Visual servo control in consideration of visual distortion of object

S. Fukushima, Toshiyuki Murakami, K. Ohnishi

Research output: Chapter in Book/Report/Conference proceedingChapter

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Editors Anon
PublisherIEEE Comp Soc
Pages1391-1396
Number of pages6
Volume3
Publication statusPublished - 1997
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

Fingerprint

Redundant manipulators
Motion control
Fuzzy logic
Manipulators

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Fukushima, S., Murakami, T., & Ohnishi, K. (1997). Visual servo control in consideration of visual distortion of object. In Anon (Ed.), IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 1391-1396). IEEE Comp Soc.

Visual servo control in consideration of visual distortion of object. / Fukushima, S.; Murakami, Toshiyuki; Ohnishi, K.

IECON Proceedings (Industrial Electronics Conference). ed. / Anon. Vol. 3 IEEE Comp Soc, 1997. p. 1391-1396.

Research output: Chapter in Book/Report/Conference proceedingChapter

Fukushima, S, Murakami, T & Ohnishi, K 1997, Visual servo control in consideration of visual distortion of object. in Anon (ed.), IECON Proceedings (Industrial Electronics Conference). vol. 3, IEEE Comp Soc, pp. 1391-1396, Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, 97/11/9.
Fukushima S, Murakami T, Ohnishi K. Visual servo control in consideration of visual distortion of object. In Anon, editor, IECON Proceedings (Industrial Electronics Conference). Vol. 3. IEEE Comp Soc. 1997. p. 1391-1396
Fukushima, S. ; Murakami, Toshiyuki ; Ohnishi, K. / Visual servo control in consideration of visual distortion of object. IECON Proceedings (Industrial Electronics Conference). editor / Anon. Vol. 3 IEEE Comp Soc, 1997. pp. 1391-1396
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