Title :
Visual servoing with linearized observer
Author :
Hashimoto, Koichi ; Noritsugu, Toshiro
Author_Institution :
Dept. of Syst. Eng., Okayama Univ., Japan
Abstract :
One of the most important problems in feature-based visual servoing is the slow sampling rate and the delay of the camera that can make the closed loop system oscillative or unstable easily. In the paper, a linearized observer that estimates the object velocity and updates the visual information with the joint sampling rate is proposed. Stability of the observer-based control system and effectiveness of the observer are verified by experiments on a PUMA 560 robot
Keywords :
CCD image sensors; closed loop systems; feature extraction; image motion analysis; nonlinear control systems; observers; robot dynamics; robot kinematics; robot vision; stability; PUMA 560 robot; feature-based visual servoing; joint sampling rate; linearized observer; observer-based control system; slow sampling rate; visual information; Cameras; Control systems; Feedback loop; Mechanical sensors; Robot kinematics; Robot vision systems; Sampling methods; Servomechanisms; Tracking; Visual servoing;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.769982
