Construction of observer-based visual servo controller

Yasunobu Tsutsumi, Naoki Oda, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages1109-1113
Number of pages5
Publication statusPublished - 1998 Jan 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Tsutsumi, Y., Oda, N., Murakami, T., & Ohnishi, K. (1998). Construction of observer-based visual servo controller. 1109-1113. Paper presented at Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, .