Full 3D visual tracking with nonlinear model-based control

Koichi Hashimoto, Takumi Ebine, Kenji Sakamoto, Hidenori Kimura

研究成果: Conference contribution

11 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAmerican Control Conference
出版社Publ by IEEE
ページ3180-3184
ページ数5
ISBN(印刷版)0780308611, 9780780308619
DOI
出版ステータスPublished - 1993
外部発表はい
イベントProceedings of the 1993 American Control Conference - San Francisco, CA, USA
継続期間: 1993 6 21993 6 4

出版物シリーズ

名前American Control Conference

Other

OtherProceedings of the 1993 American Control Conference
CitySan Francisco, CA, USA
Period93/6/293/6/4

ASJC Scopus subject areas

  • 工学(全般)

フィンガープリント

「Full 3D visual tracking with nonlinear model-based control」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル