Dynamic visual feedback control for a hand-eye manipulator

K. Hashimoto, T. Ebinc, H. Kimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

This paper proposes a visual feedback control scheme for a manipulator with a camera on the hand. Incorporating the dynamics of the visual information into the manipulator control, we formulate a state space representation of the visual servo mechanism. An optimal control approach to visual servoing is developed based on the state space formulation. The proposed algorithm gives a simple time-invariant state feedback controller, which allows a high sample rate control system. Real-time experiments of object tracking with a PL'MA 56(1 manipulator are conducted to show the validity of the optimal control scheme. Experimental results show the superiority of the proposed approach compared to the conventional visual feedback control algorithms.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1863-1868
Number of pages6
ISBN (Electronic)0780307372
DOIs
Publication statusPublished - 1992
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: 1992 Jul 71992 Jul 10

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume3
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period92/7/792/7/10

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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