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 publicationProceedings of the SICE Annual Conference
Pages101-107
Number of pages7
Publication statusPublished - 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

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

Fingerprint

Visual servoing
End effectors
Frequency response
Robots
Experiments
Cameras
Controllers

Keywords

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

ASJC Scopus subject areas

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

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 Proceedings of the SICE Annual Conference (pp. 101-107). [6318416]

Frequency response experiments of 3-D pose full-tracking visual servoing with eye-vergence hand-eye robot system. / Maeda, Koichi; Minami, Mamoru; Yanou, Akira; Matsumoto, Hiroaki; Yu, Fujia; Hou, Sen.

Proceedings of the SICE Annual Conference. 2012. p. 101-107 6318416.

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

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 Proceedings of the SICE Annual Conference., 6318416, pp. 101-107, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Maeda K, Minami M, Yanou A, Matsumoto H, Yu F, Hou S. Frequency response experiments of 3-D pose full-tracking visual servoing with eye-vergence hand-eye robot system. In Proceedings of the SICE Annual Conference. 2012. p. 101-107. 6318416
Maeda, Koichi ; Minami, Mamoru ; Yanou, Akira ; Matsumoto, Hiroaki ; Yu, Fujia ; Hou, Sen. / Frequency response experiments of 3-D pose full-tracking visual servoing with eye-vergence hand-eye robot system. Proceedings of the SICE Annual Conference. 2012. pp. 101-107
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