Title :
Potential problems in visual servo
Author :
Hashimoto, Koichi ; Tanaka, Kouhei ; Noritsugu, Toshiro
Author_Institution :
Dept. of Syst. Eng., Okayama Univ., Japan
Abstract :
Stability of feature-based visual servo 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, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region
Keywords :
convergence; manipulators; robot vision; stability criteria; artificial potential switching; convergence; feature-based visual servo controller stability; Cameras; Image converters; Jacobian matrices; Robot kinematics; Robot vision systems; Servomechanisms; Stability; Sufficient conditions; Systems engineering and theory; Visualization;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972615
