This paper describes a tracking control for plural hand-eye systems with respect to multiple objects. In case that hand-eye systems attempt to realize tracking control in regard to multiple objects simultaneously, there is a situation that it is desirable hand-eye system changes target object. For example, if a hand-eye system continues to track the same target object, collision with the other hand-eye system may happen. Avoiding such a collision motion, the optimal selection of the target object for each hand-eye system is required. To address the above issue, this paper proposes an approach for tracking control of multiple objects in plural hand-eye systems. The proposed approach is confirmed by numerical simulations and experiments.
|Number of pages||6|
|Publication status||Published - 2000 Dec 1|
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering