Visual servo control in consideration of visual distortion of object

S. Fukushima, T. Murakami, K. Ohnishi

Research output: Contribution to conferencePaper

Abstract

This paper describes a feature based visual servo control considering to the object distortion on the image plane. In the visual servo control of the manipulator with the Hand/Eye system realizing the stable convergence to target feature points with visual distortion, it is necessary to control not only the tip position but also the direction of the Hand/Eye system. To control both motion at the same time, the redundant manipulator is useful. In the proposed method, the rotational motion is controlled by null space input to reduce the visual distortion. Furthermore, to realize the stable motion convergence, the null space input gain is adjusted by fuzzy logic. To confirm the validity of proposed method, simulation and experimental results are shown.

Original languageEnglish
Pages1391-1396
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
Duration: 1997 Nov 91997 Nov 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97/11/997/11/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Fukushima, S., Murakami, T., & Ohnishi, K. (1997). Visual servo control in consideration of visual distortion of object. 1391-1396. Paper presented at Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .