DocumentCode
1740148
Title
Potential problems and switching control for visual servoing
Author
Hashimoto, Koichi ; Noritsugu, Toshiro
Author_Institution
Dept. of Syst. Eng., Okayama Univ., Japan
Volume
1
fYear
2000
fDate
2000
Firstpage
423
Abstract
This paper proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme
Keywords
feature extraction; manipulators; mobile robots; motion control; multivariable control systems; position control; 6 DOF robot; affine transformation; artificial potentials; feature-based visual servoing; feedback loop; image features; relay images; robot control scheme; stable region; switching control; Cameras; Image generation; Relays; Robot control; Robot kinematics; Robot vision systems; Servomechanisms; Stability; Visual servoing; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location
Takamatsu
Print_ISBN
0-7803-6348-5
Type
conf
DOI
10.1109/IROS.2000.894641
Filename
894641
Link To Document