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.
|出版ステータス||Published - 1997 12月 1|
|イベント||Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA|
継続期間: 1997 11月 9 → 1997 11月 14
|Other||Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)|
|City||New Orleans, LA, USA|
|Period||97/11/9 → 97/11/14|
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