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 language | English |
|---|---|
| Pages (from-to) | 739-755 |
| Number of pages | 17 |
| Journal | Journal of Advanced Mechanical Design, Systems and Manufacturing |
| Volume | 4 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2010 |
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Keywords
- Evolutionary recognition
- Hand-eye motion feedforword
- Visual servoing
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
3D visual servoing by feedforward evolutionary recognition. / Song, Wei; Fujia, Yu; Minami, Mamoru.
In: Journal of Advanced Mechanical Design, Systems and Manufacturing, Vol. 4, No. 4, 2010, p. 739-755.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - 3D visual servoing by feedforward evolutionary recognition
AU - Song, Wei
AU - Fujia, Yu
AU - Minami, Mamoru
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Evolutionary recognition
KW - Hand-eye motion feedforword
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=80051933851&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80051933851&partnerID=8YFLogxK
U2 - 10.1299/jamdsm.4.739
DO - 10.1299/jamdsm.4.739
M3 - Article
AN - SCOPUS:80051933851
VL - 4
SP - 739
EP - 755
JO - Journal of Advanced Mechanical Design, Systems and Manufacturing
JF - Journal of Advanced Mechanical Design, Systems and Manufacturing
SN - 1881-3054
IS - 4
ER -