日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
逆運動学の線形近似に基づくビジュアルサーボ
満田 隆丸 典明冨士川 和延宮崎 文夫
著者情報
ジャーナル フリー

1996 年 14 巻 5 号 p. 743-750

詳細
抄録

We propose a simple visual servoing based on linear approximation of the inverse kinematics. When we use a hand-eye system which has a similar structure as a human being, we can approximate the transformation from a binocular visual space to a joint space of the manipulator as a linear function. This relationship makes it possible to produce the desired joint angles from the image data using a constant linear function instead of the variable nonlinear image jacobian and robot jacobian. This method is robust to the calibration error, because it uses neithor camera angles nor joint angles. We show some experimental results which demonstrates the effectiveness of this method.

著者関連情報
© 社団法人 日本ロボット学会
前の記事 次の記事
feedback
Top