TY - GEN
T1 - Full 3D visual tracking with nonlinear model-based control
AU - Hashimoto, Koichi
AU - Ebine, Takumi
AU - Sakamoto, Kenji
AU - Kimura, Hidenori
PY - 1993
Y1 - 1993
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0027335049&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027335049&partnerID=8YFLogxK
U2 - 10.23919/acc.1993.4793495
DO - 10.23919/acc.1993.4793495
M3 - Conference contribution
AN - SCOPUS:0027335049
SN - 0780308611
SN - 9780780308619
T3 - American Control Conference
SP - 3180
EP - 3184
BT - American Control Conference
PB - Publ by IEEE
T2 - Proceedings of the 1993 American Control Conference
Y2 - 2 June 1993 through 4 June 1993
ER -