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

2 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.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages3268-3273
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - 2010

Publication series

NameProceedings of the SICE Annual Conference

ASJC Scopus subject areas

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

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  • Cite this

    Yu, F., Song, W., & Minami, M. (2010). Visual servoing with quick eye-vergence to enhance trackability and stability. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 3268-3273). [5602610] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).