DocumentCode
2059216
Title
Potential switching control in visual servo
Author
Hashimoto, Koichi ; Noritsugu, Toshiro
Author_Institution
Dept. of Syst. Eng., Okayama Univ., Japan
Volume
3
fYear
2000
fDate
2000
Firstpage
2765
Abstract
Stability of feature-based visual servoing 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, the stability of feature-based visual servoing is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region
Keywords
manipulator kinematics; robot vision; servomechanisms; stability; artificial potential switching; feature-based visual servoing; manipulator kinematics; robot vision; stability; stable region; Automatic control; Cameras; Control systems; Image converters; Jacobian matrices; Robot kinematics; Robot vision systems; Robotics and automation; Servomechanisms; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846446
Filename
846446
Link To Document