| ID | 30030 |
| FullText URL | |
| Author |
Hashimoto, Koichi
|
| Abstract | Proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Potential is defined as the norm of an image feature error and the stable region is a downward convex region of the potential surface that includes a reference position. The proposed scheme generates relay images that interpolate initial and reference image features and artificial potential is defined by using relay images. The artificial potentials are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme |
| Keywords | CCD image sensors
Jacobian matrices
image motion analysis
robot vision
|
| Note | Digital Object Identifier: 10.1109/CDC.2000.912327
Published with permission from the copyright holder. This is the institute's copy, as published in Decision and Control, 2000. Proceedings of the 39th IEEE Conference on, 12-15 Dec. 2000, Vol. 4, Pages 3927-3932. Publisher URL:http://dx.doi.org/10.1109/CDC.2000.912327 Copyright © 2000 IEEE. All rights reserved. |
| Published Date | 2000-12
|
| Publication Title |
Decision and Control
|
| Volume | volume4
|
| Start Page | 3927
|
| End Page | 3932
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/78
|
