| ID | 30080 |
| FullText URL | |
| Author |
Hashimoto, Koichi
Tanaka, Kouhei
|
| Abstract | Stability of feature-based visual servo controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region |
| Keywords | convergence
manipulators
robot vision
stability criteria
|
| Note | Digital Object Identifier: 10.1109/IECON.2000.972615
Published with permission from the copyright holder. This is the institute's copy, as published in Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE, 22-28 Oct. 2000, Vol. 3, Pages 2189-2194. Publisher URL:http://dx.doi.org/10.1109/IECON.2000.972615 Copyright © 2000 IEEE. All rights reserved. |
| Published Date | 2000-10
|
| Publication Title |
Industrial Electronics Society
|
| Volume | volume3
|
| Start Page | 2189
|
| End Page | 2194
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/81
|
