DocumentCode
2032263
Title
Potential problems in visual servo
Author
Hashimoto, Koichi ; Tanaka, Kouhei ; Noritsugu, Toshiro
Author_Institution
Dept. of Syst. Eng., Okayama Univ., Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
2189
Abstract
Stability of feature-based visual servo controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region
Keywords
convergence; manipulators; robot vision; stability criteria; artificial potential switching; convergence; feature-based visual servo controller stability; Cameras; Image converters; Jacobian matrices; Robot kinematics; Robot vision systems; Servomechanisms; Stability; Sufficient conditions; Systems engineering and theory; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location
Nagoya
Print_ISBN
0-7803-6456-2
Type
conf
DOI
10.1109/IECON.2000.972615
Filename
972615
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