Title :
Visual servoing using image moments and Nonlinear State Error Feedback control law
Author :
Li Guo-dong ; Tian Guo-hui ; Xue Ying-hua
Author_Institution :
Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China
Abstract :
For the purpose of realizing 6 DOF robot´s visual servoing, we choose image moments,which is a kind of global image features, to construct task functions, and present the analytical form of the interaction matrix, also in order to solve the difficulties of acquiring the depth information of the target object, we choose moments of desired image to replace the translation part of the interaction matrix. Then the robustness of the Nonlinear State Error Feedback control law was analysed theorically. Finally the simulation experimental results we present show the effectiveness of moment features and the robustness of Nonlinear State Error Feedback(NLSEF) control law.
Keywords :
matrix algebra; nonlinear control systems; robot vision; state feedback; visual servoing; 6 DOF robot visual servoing; global image features; image moments; interaction matrix; nonlinear state error feedback control law; target object; Error correction; Feedback control; Image analysis; Information analysis; Manipulator dynamics; Robot control; Robot vision systems; Robust control; State feedback; Visual servoing; Image Moments; NLSEF; Visual Servoing;
Conference_Titel :
Control and Decision Conference (CCDC), 2010 Chinese
Conference_Location :
Xuzhou
Print_ISBN :
978-1-4244-5181-4
Electronic_ISBN :
978-1-4244-5182-1
DOI :
10.1109/CCDC.2010.5498605
