Host: The Japan Society for Precision Engineering
In this paper, two wheels driven manipulator with a monocular camera is controlled to work in the narrow and unknown area. The purpose is to track the object while the attitude stabilization. Subsystem decomposition control, or enabling to carry out the many tasks by few degree of freedom, is proposed. In addition, the new visual features are defined, and visual servoing without estimation of the depth and image jacobian is proposed. Simulation and experiment were carried out to show the validity of the proposed method.
