3D visual servoing by feedforward evolutionary recognition

Wei Song; Yu Fujia; Mamoru Minami

doi:10.1299/jamdsm.4.739

3D visual servoing by feedforward evolutionary recognition

Wei Song, Yu Fujia, Mamoru Minami

Research output: Contribution to journal › Article

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 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	https://doi.org/10.1299/jamdsm.4.739
Publication status	Published - Dec 1 2010

Keywords

Evolutionary recognition
Hand-eye motion feedforword
Visual servoing

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1299/jamdsm.4.739

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Song, W., Fujia, Y., & Minami, M. (2010). 3D visual servoing by feedforward evolutionary recognition. Journal of Advanced Mechanical Design, Systems and Manufacturing, 4(4), 739-755. https://doi.org/10.1299/jamdsm.4.739

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