Full 3D visual tracking with nonlinear model-based control

Koichi Hashimoto, Takumi Ebine, Kenji Sakamoto, Hidenori Kimura

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

11 Citations (Scopus)


The visual tracking system is composed of an object moving around the work space and a robot tracking the object based on the visual sensory feedback. This paper proposes a control theoretic formulation for 3D feature-based visual tracking system. The system is modeled by a nonlinear differential equation that incorporates the dynamics of the robot as well as the characteristics of the camera. A nonlinear control scheme which strictly linearizes the system is proposed. Simulations of 6 degrees of freedom control with PUMA 560 manipulator are carried out to evaluate the effectiveness of the proposed nonlinear approach.

Original languageEnglish
Title of host publicationAmerican Control Conference
PublisherPubl by IEEE
Number of pages5
ISBN (Print)0780308611, 9780780308619
Publication statusPublished - 1993
Externally publishedYes
EventProceedings of the 1993 American Control Conference - San Francisco, CA, USA
Duration: 1993 Jun 21993 Jun 4

Publication series

NameAmerican Control Conference


OtherProceedings of the 1993 American Control Conference
CitySan Francisco, CA, USA

ASJC Scopus subject areas

  • Engineering(all)


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