Construction of observer-based visual servo controller

Yasunobu Tsutsumi, Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

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

3 Citations (Scopus)

Abstract

This paper describes a novel approach for a robust motion control based on image signal. The considered system has a 3-link planer redundant manipulator and a CCD camera mounted on its end-effector. In case the motion command of a manipulator is calculated from several feature points obtained by image signal, the kinematic transformation among coordinates is required. In the practical application, however, the image signal includes several kinds of errors caused by the unknown modeling error. In general, it is assumed that these errors are negligible amount. In the precise motion control based on the vision sensor, the above assumption is not always acceptable. To suppress the disturbance effect of the modeling error in the vision based motion system, the paper introduces the image space observer. The proposed controller has a simple structure and is applicable to the vision based system without increasing the calculation effort. The validity of the image space observer is confirmed by several numerical and experimental results in a 3-link planer manipulator system.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE Comp Soc
Pages1109-1113
Number of pages5
Volume2
Publication statusPublished - 1998
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: 1998 Aug 311998 Sep 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

Fingerprint

Controllers
Motion control
Manipulators
Redundant manipulators
End effectors
Robust control
CCD cameras
Kinematics
Sensors

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tsutsumi, Y., Oda, N., Murakami, T., & Ohnishi, K. (1998). Construction of observer-based visual servo controller. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1109-1113). IEEE Comp Soc.

Construction of observer-based visual servo controller. / Tsutsumi, Yasunobu; Oda, Naoki; Murakami, Toshiyuki; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 2 IEEE Comp Soc, 1998. p. 1109-1113.

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

Tsutsumi, Y, Oda, N, Murakami, T & Ohnishi, K 1998, Construction of observer-based visual servo controller. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 2, IEEE Comp Soc, pp. 1109-1113, Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, 98/8/31.
Tsutsumi Y, Oda N, Murakami T, Ohnishi K. Construction of observer-based visual servo controller. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 2. IEEE Comp Soc. 1998. p. 1109-1113
Tsutsumi, Yasunobu ; Oda, Naoki ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Construction of observer-based visual servo controller. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 2 IEEE Comp Soc, 1998. pp. 1109-1113
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