{"id":"https://openalex.org/W1832530135","doi":"https://doi.org/10.1109/cca.2003.1223145","title":"Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing","display_name":"Variable structure PID controller for cooperative eye-in-hand/eye-to-hand visual servoing","publication_year":2004,"publication_date":"2004-01-23","ids":{"openalex":"https://openalex.org/W1832530135","doi":"https://doi.org/10.1109/cca.2003.1223145","mag":"1832530135"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2003.1223145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113510864","display_name":"M. Elena","orcid":null},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"M. Elena","raw_affiliation_strings":["Engineering Department, University of Ferrara, Ferrara, Italy","Dept. of Eng., Ferrara Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Ferrara, Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Eng., Ferrara Univ., Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019792057","display_name":"M. Cristiano","orcid":null},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Cristiano","raw_affiliation_strings":["Engineering Department, University of Ferrara, Ferrara, Italy","Dept. of Eng., Ferrara Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Ferrara, Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Eng., Ferrara Univ., Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075354405","display_name":"F. Damiano","orcid":null},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"F. Damiano","raw_affiliation_strings":["Engineering Department, University of Ferrara, Ferrara, Italy","Dept. of Eng., Ferrara Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Ferrara, Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Eng., Ferrara Univ., Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049538665","display_name":"Marcello Bonf\u00e8","orcid":"https://orcid.org/0000-0002-6065-9769"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Bonfe","raw_affiliation_strings":["Engineering Department, University of Ferrara, Ferrara, Italy","Dept. of Eng., Ferrara Univ., Italy"],"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Ferrara, Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]},{"raw_affiliation_string":"Dept. of Eng., Ferrara Univ., Italy","institution_ids":["https://openalex.org/I201324441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113510864"],"corresponding_institution_ids":["https://openalex.org/I201324441"],"apc_list":null,"apc_paid":null,"fwci":4.6554,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.94356955,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"989","last_page":"994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7707303166389465},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6848462224006653},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.651422381401062},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6210676431655884},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.5756120085716248},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5150411128997803},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.510691225528717},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.46697497367858887},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4546355605125427},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.45325547456741333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41777801513671875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19726678729057312},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.0961599051952362}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7707303166389465},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6848462224006653},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.651422381401062},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6210676431655884},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.5756120085716248},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5150411128997803},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.510691225528717},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.46697497367858887},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4546355605125427},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.45325547456741333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41777801513671875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19726678729057312},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0961599051952362},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cca.2003.1223145","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2003.1223145","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unife.it:11392/497725","is_oa":false,"landing_page_url":"http://hdl.handle.net/11392/497725","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1989555277","https://openalex.org/W2042741865","https://openalex.org/W2102475157","https://openalex.org/W2111570103","https://openalex.org/W2112731915","https://openalex.org/W2124535811","https://openalex.org/W2133059825","https://openalex.org/W2139133559","https://openalex.org/W3210839039","https://openalex.org/W4211008903"],"related_works":["https://openalex.org/W2186268827","https://openalex.org/W2082631666","https://openalex.org/W129737916","https://openalex.org/W4226385867","https://openalex.org/W2966461000","https://openalex.org/W3034003528","https://openalex.org/W2281711232","https://openalex.org/W4223569781","https://openalex.org/W841410736","https://openalex.org/W3004667746"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,17],"experiment":[4],"on":[5,20,40,70],"the":[6,26,33,41,52,75,96,99],"use":[7],"of":[8,16,25,43,98],"a":[9,21,44,57,67,71,78,87],"cooperative":[10],"camera":[11],"system":[12],"for":[13],"robotic":[14],"tracking":[15],"object":[18,27],"moving":[19],"plane.":[22],"The":[23,62],"image":[24],"is":[28,82],"acquired":[29],"from":[30,86],"two":[31],"cameras,":[32],"first":[34],"one":[35,54],"(camera":[36],"in":[37,56],"hand)":[38],"mounted":[39],"end-effector":[42],"6":[45],"DOF":[46],"robot":[47],"arm":[48],"(Puma":[49],"260)":[50],"and":[51,74,91],"second":[53],"fixed":[55],"certain":[58],"location":[59],"(fixed":[60],"camera).":[61],"images":[63],"are":[64],"processed":[65],"by":[66],"frame":[68],"grabber":[69],"standard":[72],"PC,":[73],"controller":[76],"has":[77],"variable":[79],"structure,":[80],"which":[81],"capable":[83],"to":[84,89,95],"change":[85],"PID":[88],"PD":[90],"vice":[92],"versa":[93],"according":[94],"dynamic":[97],"target.":[100]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}