一般論文
視空間誤差を用いた仮想バネダンパ仮説に基づくダイナミックビジュアルサーボによるEye-In-Hand型ロボットの位置姿勢制御
2011 年 77 巻 776 号 p. 1366-1375
詳細
2011 年 77 巻 776 号 p. 1366-1375
We propose position and attitude control method of Eye-In-Hand Robot by Dynamic visual servoing based on Virtual Spring-Dumper Hypothesis using Binocular Visual Space Error. We obtain the 3D position and attitude error from the binocular visual space error using Jacobian between cartesian space and binocular visual space. The proposed method is robust to calibration error of camera angles, because it does not use camera angles to calculate feedback command. Simulation results are presented to demonstrate the effectiveness of the proposed method.
