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 language | English |
|---|---|
| Title of host publication | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings |
| Pages | 6228-6233 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Externally published | Yes |
| Event | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China Duration: Oct 18 2010 → Oct 22 2010 |
Other
| Other | 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
|---|---|
| Country | Taiwan, Province of China |
| City | Taipei |
| Period | 10/18/10 → 10/22/10 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
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 -