Performance evaluation of image-space observer based visual servoing system

Ko Okiyama, Toshiyuki Murakami

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

In recent years, robots are 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 the visual servoing system. A 3-link planar manipulator mounted 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 adopted. In this paper, image-space observer (IOB), which compensates disturbances in the image space, is proposed. Then, 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)930-938
Number of pages9
Journalieej transactions on industry applications
Volume134
Issue number11
DOIs
Publication statusPublished - 2014 Nov 1

Keywords

  • Image-based method
  • Image-space observer
  • Robustness
  • Tracking capability
  • Visual servoing
  • Zero-order hold

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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