書誌事項
- タイトル別名
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- Visual Servoing. Nonlinear Observer Approach.
- Nonlinear Observer Approach
- 非線形オブザーバアプローチ
- 公開日
- 1995
- DOI
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- 10.7210/jrsj.13.986
- 公開者
- 一般社団法人 日本ロボット学会
この論文をさがす
説明
The visual servo system is a robotic servo mechanism that incorporates the vision sensor in the feedback loop. The conventional static look and move scheme is not suitable for visual servoing because the visual servoing is used mainly in dynamically chaning environments. Although the dynamic couplings exist between the robot and the camera, previously proposed schemes neglected the robot dynamics. Therefore, they are not sufficient for real-time dynamic visual servoing. This paper proposes a nonlinear controller and a nonlinear observer for the visual servo system. Also a consideration on the tracking condition is given. The nonlinear controller compensates the robot and camera characteristics. The nonlinear observer estimates the object velocity and predicts the object motion. The observer-based control scheme is proved to be asymptotically stabile. Moreover, the effectiveness of the nonlinear observer approach is verified by simulations and experiments on a two link direct drive robot.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 13 (7), 986-993, 1995
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679701850368
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- NII論文ID
- 10011651043
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
