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.
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.
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M3 - Conference contribution
AN - SCOPUS:78649301969
SN - 9784907764364
T3 - Proceedings of the SICE Annual Conference
SP - 3268
EP - 3273
BT - Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PB - Society of Instrument and Control Engineers (SICE)
ER -