Frequency response experiments of 3-D pose full-tracking visual servoing with eye-vergence hand-eye robot system

Koichi Maeda, Mamoru Minami, Akira Yanou, Hiroaki Matsumoto, Fujia Yu, Sen Hou

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Visual Servoing for hand-eye configuration having been presented so far seems to be vulnerable for tracking ability since it may lose a moving target. Our proposal to solve this problem is that the controller for visual servoing of the hand and the eye-vergence should be separated independently based on decoupling the motions each other. Base on this prerequisite the eye-vergence system to track target object by camera to be in view sight can have higher trackability than conventional visual servoing with fixed cameras. We have confirmed this superiority of eye-vergence system through frequency response visual servoing experiment with full 3-D pose tracking.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
PublisherSociety of Instrument and Control Engineers (SICE)
Pages101-107
Number of pages7
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Publication series

NameProceedings of the SICE Annual Conference

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Keywords

  • 3-D estimate
  • Eye-vergence
  • Frequency Response
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Maeda, K., Minami, M., Yanou, A., Matsumoto, H., Yu, F., & Hou, S. (2012). Frequency response experiments of 3-D pose full-tracking visual servoing with eye-vergence hand-eye robot system. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 101-107). [6318416] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).