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Nonlinear Observer Approach."},{"@value":"ビジュアルサーボイング　非線形オブザーバアプローチ"}],"dcterms:alternative":[{"@language":"en","@value":"Nonlinear Observer Approach"},{"@value":"非線形オブザーバアプローチ"}],"dc:language":"ja","description":[{"type":"abstract","notation":[{"@language":"en","@value":"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."}],"abstractLicenseFlag":"disallow"}],"creator":[{"@id":"https://cir.nii.ac.jp/crid/1420001326235777280","@type":"Researcher","personIdentifier":[{"@type":"KAKEN_RESEARCHERS","@value":"80228410"},{"@type":"NRID","@value":"1000080228410"},{"@type":"NRID","@value":"9000005894673"},{"@type":"NRID","@value":"9000305656653"},{"@type":"NRID","@value":"9000375892240"},{"@type":"NRID","@value":"9000022296385"},{"@type":"NRID","@value":"9000391898700"},{"@type":"NRID","@value":"9000283801104"},{"@type":"NRID","@value":"9000412370122"},{"@type":"NRID","@value":"9000392524022"},{"@type":"NRID","@value":"9000415178615"},{"@type":"NRID","@value":"9000009364058"},{"@type":"NRID","@value":"9000018676510"},{"@type":"NRID","@value":"9000375892188"},{"@type":"NRID","@value":"9000414822667"},{"@type":"NRID","@value":"9000271153594"},{"@type":"NRID","@value":"9000390926355"},{"@type":"NRID","@value":"9000415179010"},{"@type":"NRID","@value":"9000409492827"},{"@type":"NRID","@value":"9000399365414"},{"@type":"NRID","@value":"9000399365740"},{"@type":"NRID","@value":"9000022341707"},{"@type":"NRID","@value":"9000412114546"},{"@type":"NRID","@value":"9000396151254"},{"@type":"NRID","@value":"9000242787952"},{"@type":"NRID","@value":"9000291596056"},{"@type":"NRID","@value":"9000291616143"},{"@type":"NRID","@value":"9000283801115"},{"@type":"NRID","@value":"9000253680248"},{"@type":"NRID","@value":"9000331420458"},{"@type":"NRID","@value":"9000022295740"},{"@type":"NRID","@value":"9000022451210"},{"@type":"NRID","@value":"9000245825417"},{"@type":"NRID","@value":"9000021796924"},{"@type":"NRID","@value":"9000305657043"},{"@type":"NRID","@value":"9000309158763"},{"@type":"NRID","@value":"9000375890810"},{"@type":"NRID","@value":"9000375892232"},{"@type":"NRID","@value":"9000412370076"},{"@type":"NRID","@value":"9000399366060"},{"@type":"NRID","@value":"9000399368173"},{"@type":"NRID","@value":"9000256262410"},{"@type":"NRID","@value":"9000022415658"},{"@type":"NRID","@value":"9000392524434"},{"@type":"NRID","@value":"9000255780147"},{"@type":"NRID","@value":"9000258430200"},{"@type":"NRID","@value":"9000410641483"},{"@type":"NRID","@value":"9000331420419"},{"@type":"NRID","@value":"9000022295961"},{"@type":"NRID","@value":"9000254282752"},{"@type":"NRID","@value":"9000399368431"},{"@type":"NRID","@value":"9000392506696"},{"@type":"NRID","@value":"9000016816352"},{"@type":"NRID","@value":"9000022376732"},{"@type":"NRID","@value":"9000022446976"},{"@type":"NRID","@value":"9000283800928"},{"@type":"NRID","@value":"9000325829450"},{"@type":"NRID","@value":"9000404306524"},{"@type":"NRID","@value":"9000254771589"},{"@type":"NRID","@value":"9000405882882"},{"@type":"NRID","@value":"9000409511050"},{"@type":"NRID","@value":"9000022379679"},{"@type":"NRID","@value":"9000020480906"},{"@type":"NRID","@value":"9000414821762"},{"@type":"NRID","@value":"9000405913289"},{"@type":"NRID","@value":"9000003821865"},{"@type":"NRID","@value":"9000001103481"},{"@type":"NRID","@value":"9000248243396"},{"@type":"NRID","@value":"9000273004302"},{"@type":"NRID","@value":"9000248243541"},{"@type":"NRID","@value":"9000022264891"},{"@type":"NRID","@value":"9000403573257"},{"@type":"NRID","@value":"9000309159668"},{"@type":"NRID","@value":"9000309160014"},{"@type":"NRID","@value":"9000375892257"},{"@type":"NRID","@value":"9000414332735"},{"@type":"NRID","@value":"9000399366182"},{"@type":"NRID","@value":"9000001103482"},{"@type":"NRID","@value":"9000283803037"},{"@type":"NRID","@value":"9000414824503"},{"@type":"NRID","@value":"9000241962142"},{"@type":"NRID","@value":"9000375892001"},{"@type":"NRID","@value":"9000375892164"},{"@type":"NRID","@value":"9000392524485"},{"@type":"NRID","@value":"9000241643442"},{"@type":"RESEARCHMAP","@value":"https://researchmap.jp/read0077247"}],"foaf:name":[{"@language":"en","@value":"Hashimoto Koichi"},{"@language":"ja","@value":"橋本 浩一"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Faculty of Engineering, Okayama University"},{"@language":"ja","@value":"岡山大学工学部"}]},{"@id":"https://cir.nii.ac.jp/crid/1410282679701850369","@type":"Researcher","foaf:name":[{"@language":"en","@value":"Kimura Hidenori"},{"@language":"ja","@value":"木村 英紀"}],"jpcoar:affiliationName":[{"@language":"en","@value":"Faculty of Engineering, University of Tokyo"},{"@language":"ja","@value":"東京大学工学部"}]}],"publication":{"publicationIdentifier":[{"@type":"PISSN","@value":"02891824"},{"@type":"EISSN","@value":"18847145"},{"@type":"NCID","@value":"AN00141189"}],"prism:publicationName":[{"@language":"en","@value":"Journal of the Robotics Society of Japan"},{"@language":"ja","@value":"日本ロボット学会誌"},{"@language":"en","@value":"JRSJ"},{"@language":"ja","@value":"ロボット学会誌"},{"@language":"en","@value":"Journal of the Robotics Society of Japan"},{"@language":"ja","@value":"日本ロボット学会誌"}],"dc:publisher":[{"@language":"en","@value":"The Robotics Society of Japan"},{"@language":"ja","@value":"一般社団法人 日本ロボット学会"}],"prism:publicationDate":"1995","prism:volume":"13","prism:number":"7","prism:startingPage":"986","prism:endingPage":"993"},"reviewed":"false","availableAt":"1995","foaf:topic":[{"@id":"https://cir.nii.ac.jp/all?q=Visual%20Feedback","dc:title":"Visual Feedback"},{"@id":"https://cir.nii.ac.jp/all?q=Servomechanisms","dc:title":"Servomechanisms"},{"@id":"https://cir.nii.ac.jp/all?q=Nonlinear%20Control","dc:title":"Nonlinear Control"},{"@id":"https://cir.nii.ac.jp/all?q=Nonlinear%20Observer","dc:title":"Nonlinear Observer"}],"relatedProduct":[{"@id":"https://cir.nii.ac.jp/crid/1360292619284965760","@type":"Article","relationType":["cites"],"jpcoar:relatedTitle":[{"@value":"Random sample 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