Abstract
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 language | English |
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| Title of host publication | American Control Conference |
| Publisher | Publ by IEEE |
| Pages | 3180-3184 |
| Number of pages | 5 |
| ISBN (Print) | 0780308611 |
| Publication status | Published - 1993 Jan 1 |
| Externally published | Yes |
| Event | Proceedings of the 1993 American Control Conference - San Francisco, CA, USA Duration: 1993 Jun 2 → 1993 Jun 4 |
Publication series
| Name | American Control Conference |
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Other
| Other | Proceedings of the 1993 American Control Conference |
|---|---|
| City | San Francisco, CA, USA |
| Period | 93/6/2 → 93/6/4 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
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Cite this
Hashimoto, K., Ebine, T., Sakamoto, K., & Kimura, H. (1993). Full 3D visual tracking with nonlinear model-based control. In American Control Conference (pp. 3180-3184). (American Control Conference). Publ by IEEE.