We present a novel approach we call partitioning where the robot's degrees-of-freedom (DOF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Position-based data is used to kinematically servo the second class of joints that have large kinematic range. The net effect is an active-vision system that synergistically tracks a diverse range of targets (without using CAD-based models) over a wide bandwidth of motion dynamics.
Recommended citation: Oh, Paul and Peter K. Allen, Performance of a Partitioned Visual Feedback Controller, IEEE Int. Conf. on Robotics and Automation, May 10-15, 1999, Detroit, MI, pp. 275-280.