Performance Evaluation of an Image-Space Observer-Based Visual Servoing System

Ko Okiyama, Toshiyuki Murakami

Research output: Contribution to journalArticle

Abstract

In recent years, robots have come to be required to operate in various environments and situations. Therefore, robots have to recognize the environment they are in and adapt to any situations that present themselves. The purpose of this research is to increase the tracking speed and robustness of a visual servoing system. A 3-link planar manipulator provided with a CCD camera is used to track the target. In order to track the target, an image-based tracking method, suitable for high-speed tracking, is used. This paper proposes an image-space observer (IOB), which compensates disturbances in the image space. A zero-order hold is introduced to the IOB to enhance the performance of the visual servoing system. The validity of the proposed method is confirmed through experiments.

Original languageEnglish
Pages (from-to)34-43
Number of pages10
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume196
Issue number2
DOIs
Publication statusPublished - 2016 Jul 1

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Visual servoing
Robots
CCD cameras
Manipulators
Experiments

Keywords

  • image-based method
  • image-space observer
  • robustness
  • tracking capability
  • visual servoing
  • zero-order hold

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Energy Engineering and Power Technology

Cite this

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