Title :
Potential problems and switching control for visual servoing
Author :
Hashimoto, Koichi ; Noritsugu, Toshiro
Author_Institution :
Dept. of Syst. Eng., Okayama Univ., Japan
Abstract :
This paper proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme
Keywords :
feature extraction; manipulators; mobile robots; motion control; multivariable control systems; position control; 6 DOF robot; affine transformation; artificial potentials; feature-based visual servoing; feedback loop; image features; relay images; robot control scheme; stable region; switching control; Cameras; Image generation; Relays; Robot control; Robot kinematics; Robot vision systems; Servomechanisms; Stability; Visual servoing; Visualization;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894641
