Visual servoing with quick eye-vergence to enhance trackability and stability

Fujia Yu, Wei Song, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages6228-6233
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: Oct 18 2010 → Oct 22 2010

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/10 → 10/22/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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