DocumentCode
490700
Title
Full 3D Visual Tracking with Nonlinear Model-Based Control
Author
Hashimoto, Koichi ; Ebine, Takumi ; Sakamoto, Kenji ; Kimura, Hidenori
Author_Institution
Department of Mechanical Engineering for Computer-Controlled Machinery, Osaka University, 2-1 Yamada-oka, Suita, Osaka 565 JAPAN
fYear
1993
fDate
2-4 June 1993
Firstpage
3180
Lastpage
3184
Abstract
The visual tracking system is composed of an object moving around the work space and a robot tracking the object based on the visual sensory feedback. This paper proposes a control theoretic formulation for 3D feature-based visual tracking system. The system is modeled by a nonlinear differential equation that incorporates the dynamics of the robot as well as the characteristics of the camera. A nonlinear control scheme which strictly linearizes the system is proposed. Simulations of 6 degrees of freedom control with PUMA 560 manipulator are carried out to evaluate the effectiveness of the proposed nonlinear approach.
Keywords
Cameras; Control systems; Differential equations; Feedback; Manipulators; Nonlinear control systems; Nonlinear dynamical systems; Orbital robotics; Robot sensing systems; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1993
Conference_Location
San Francisco, CA, USA
Print_ISBN
0-7803-0860-3
Type
conf
Filename
4793495
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