システム制御情報学会論文誌
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
ステレオ視によるマニピュレータのビジュアルサーボ
加瀬 裕丸 典明西川 敦宮崎 文夫
著者情報
ジャーナル フリー

1993 年 6 巻 8 号 p. 360-367

詳細
抄録

This paper presents a new method of visual servoing with stereo vision to control the position of a manipulator with respect to an object. Conventional control methods by visual servoing use a monocular camera and have several problems. For example, either shape information or desired distance of the target object from the camera must be given. Furthermore, it is not stable if the initial positional error of features in the image is very large. These problems are caused by image the Jacobian matrix, that is, the approximate value at desired position is used instead of correct one. By using stereo vision, the image Jacobian matrix can be calculated correctly at any position. So neither shape information nor desired distance of the target object is required. It is also stable even if the initial error is very large. Both simulation and experimental results are presented to demonstrate the effectiveness of this method.

著者関連情報
© システム制御情報学会
前の記事 次の記事
feedback
Top