Approach of visual servoing control considering compensation of time delay

Yasushi Iwazaki, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Paper査読

8 被引用数 (Scopus)

抄録

This paper describes a novel approach to position-based visual servoing in multi-link redundant manipulator. In the conventional approach, only the tip position of the manipulator is mainly controlled according to the 3-dimensional position information detected by the fixed cameras. In this case, it is difficult to increase the stability and the reliability of the controller since only the position command is considered. In the proposed approach, however, both position and velocity commands are considered by introducing the redundant feature points of target object. One feature point is utilized to generate the position command by using the stereo camera system. The velocity command is determined according to other feature points on the image frame. Furthermore we introduce Smith-method to compensate the time delay of image processing. Several numerical and experimental results are also shown to confirm the feasibility of the proposed method.

本文言語English
ページ723-728
ページ数6
出版ステータスPublished - 1997 12 1
イベントProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3) - Guimaraes, Portugal
継続期間: 1997 7 71997 7 11

Other

OtherProceedings of the 1997 IEEE International Symposium on Industrial Electronics, ISIE. Part 3 (of 3)
CityGuimaraes, Portugal
Period97/7/797/7/11

ASJC Scopus subject areas

  • 電子工学および電気工学

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