IEEJ Transactions on Industry Applications
Online ISSN : 1348-8163
Print ISSN : 0913-6339
ISSN-L : 0913-6339
Special Issue Letter
Approximate Exploring Motion Control for Eye-in-Hand Visual Servoing
Mariko IchikawaMasaaki Shibata
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2007 Volume 127 Issue 6 Pages 651-652

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Abstract

This paper proposes a visual servo control method for exploring motion of eye-in-hand robot to recognize a three-dimensional object. Optimal motion is based on the strategy in which the position estimation precision of the feature points gets improved when the feature points move widely, and the optimal robot motion provides the widest transitions of the feature points per unit robot motion, so that the robot should be controlled to purse such motion. In addition, this paper describes the way to reduce a large number of calculation efforts. The validity of our approach is confirmed in the several experimental results.

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© 2007 by the Institute of Electrical Engineers of Japan
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