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

Fujia Yu, Wei Song, Mamoru Minami

Research output: Chapter in Book/Report/Conference proceedingConference 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 2010Oct 22 2010

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/18/1010/22/10

Fingerprint

Visual servoing
Manipulators
Robots
Controllers

ASJC Scopus subject areas

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

Cite this

Yu, F., Song, W., & Minami, M. (2010). Visual servoing with quick eye-vergence to enhance trackability and stability. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 6228-6233). [5653400] https://doi.org/10.1109/IROS.2010.5653400

Visual servoing with quick eye-vergence to enhance trackability and stability. / Yu, Fujia; Song, Wei; Minami, Mamoru.

IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 6228-6233 5653400.

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

Yu, F, Song, W & Minami, M 2010, Visual servoing with quick eye-vergence to enhance trackability and stability. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5653400, pp. 6228-6233, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 10/18/10. https://doi.org/10.1109/IROS.2010.5653400
Yu F, Song W, Minami M. Visual servoing with quick eye-vergence to enhance trackability and stability. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 6228-6233. 5653400 https://doi.org/10.1109/IROS.2010.5653400
Yu, Fujia ; Song, Wei ; Minami, Mamoru. / Visual servoing with quick eye-vergence to enhance trackability and stability. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 6228-6233
@inproceedings{379eff0ea96e4254a246a1a8b4ff634f,
title = "Visual servoing with quick eye-vergence to enhance trackability and stability",
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.",
author = "Fujia Yu and Wei Song and Mamoru Minami",
year = "2010",
doi = "10.1109/IROS.2010.5653400",
language = "English",
isbn = "9781424466757",
pages = "6228--6233",
booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

}

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.

UR - http://www.scopus.com/inward/record.url?scp=78651480888&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78651480888&partnerID=8YFLogxK

U2 - 10.1109/IROS.2010.5653400

DO - 10.1109/IROS.2010.5653400

M3 - Conference contribution

AN - SCOPUS:78651480888

SN - 9781424466757

SP - 6228

EP - 6233

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

ER -