視空間に基づいたビジュアルサーボによるEye-And-Hand型ロボットアームの制御

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  • Control of Eye-And-Hand robot arm by visual space based visual servoing

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<p>We propose control method of Eye-And-Hand robot arm by visual space based visual servoing which directly generates command values from visual space coordinate by using jacobian of between velocity of feature points on visual space coordinate and velocity of robot arm on 3D coordinate. Visual space based visual servoing can suppress unexpected movement in space because it is control method which minimizes deviation on visual space coordinate which deeply relates to spatial recognition of human beings and is derived from image coordinate of stereo camera, camera angles and camera focal length. On the other hand, image based visual servoing which is conventional method of visual servoing sometimes causes unexpected movement in space because it is control method which minimizes deviation on image coordinate by using jacobian of between velocity of feature points on image coordinate and velocity of robot arm on 3D coordinate. And we show that visual space based visual servoing suppresses unexpected movement in space by comparing it with image based visual servoing by simulations. First simulation shows that difference of hand trajectory between visual space based visual servoing and image based visual servoing is little. Second simulation shows that the difference becomes larger because image based visual servoing causes unexpected movement by making deviation of posture between first hand posture and target posture larger than first simulation.</p>

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