DocumentCode
529373
Title
Visual servoing with quick eye-vergence to enhance trackability and stability
Author
Yu, Fujia ; Song, Wei ; Minami, Mamoru
Author_Institution
Dept. of Human & Artificial Intell. Syst., Univ. of Fukui, Fukui, Japan
fYear
2010
fDate
18-21 Aug. 2010
Firstpage
3268
Lastpage
3273
Abstract
Visual servoing methods for hand-eye configuration are vulnerable for hand´s dynamical oscillation, since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where the trackablity is verified by Lyapunov analysis. Then the effectiveness of the decoupled hand & eye-vergence visual servoing method is evaluated through simulations incorporated with actual dynamics of 7-DoF robot with additional 3-DoF for eye-vergence mechanism.
Keywords
Lyapunov methods; dexterous manipulators; manipulator dynamics; nonlinear dynamical systems; robot vision; visual servoing; 7-DoF robot; Lyapunov analysis; eye vergence visual servoing method; hand eye configuration; manipulator; nonlinear dynamical system; stable tracking ability; Cameras; Manipulator dynamics; Target tracking; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference 2010, Proceedings of
Conference_Location
Taipei
Print_ISBN
978-1-4244-7642-8
Type
conf
Filename
5602610
Link To Document