TY - GEN
T1 - Visual servoing with quick eye-vergence to enhance trackability and stability
AU - Yu, Fujia
AU - Song, Wei
AU - Minami, Mamoru
PY - 2010
Y1 - 2010
N2 - Visual servoing methods for hand-eye configuration are vulnerable for hand's dynamical oscillation , since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where the trackablity is verified by Lyapunov analysis. Then the effectiveness of the decoupled hand & eye-vergence visual servoing method is evaluated through simulations incorporated with actual dynamics of 7-DoF robot with additional 3-DoF for eye-vergence mechanism by amplitude and phase frequency analysis.
AB - Visual servoing methods for hand-eye configuration are vulnerable for hand's dynamical oscillation , since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where the trackablity is verified by Lyapunov analysis. Then the effectiveness of the decoupled hand & eye-vergence visual servoing method is evaluated through simulations incorporated with actual dynamics of 7-DoF robot with additional 3-DoF for eye-vergence mechanism by amplitude and phase frequency analysis.
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U2 - 10.1109/IROS.2010.5653400
DO - 10.1109/IROS.2010.5653400
M3 - Conference contribution
AN - SCOPUS:78651480888
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 6228
EP - 6233
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -