3D visual servoing by feedforward evolutionary recognition

Wei Song, Yu Fujia, Mamoru Minami

Research output: Contribution to journalArticle

12 Citations (Scopus)

Abstract

This paper deals with position-based 6-DoF visual servoing. With a common sense of feedback control, we stress that improvement of the dynamics of the sensing unit is important for a stable visual servoing. We propose a method to improve dynamics in visual recognition, with compensating the fictional motion of the target in the camera images based on kinematics of the manipulator, by extracting the real motion of the target. We named it as hand-eye motion feedforword (MFF) method. The enhanced dynamics of recognition gave further stability and precision to the total visual servoing system, evaluated by full 6-DoF servoing experiment using 7-link manipulator. The convergence time in step response was about 10[s] and precise visual servoing to a moving target object has been achieved.

Original languageEnglish
Pages (from-to)739-755
Number of pages17
JournalJournal of Advanced Mechanical Design, Systems and Manufacturing
Volume4
Issue number4
DOIs
Publication statusPublished - Dec 1 2010

Keywords

  • Evolutionary recognition
  • Hand-eye motion feedforword
  • Visual servoing

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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