Transactions of the Society of Instrument and Control Engineers
Online ISSN : 1883-8189
Print ISSN : 0453-4654
Visual Servoing Based on the Use of Binocular Visual Space
Takashi MITSUDANoriaki MARUKazunobu FUJIKAWAFumio MIYAZAKI
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1997 Volume 33 Issue 1 Pages 35-41

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Abstract

We propose a simple visual servoing scheme based on the use of binocular visual space. When we use a hand-eye system which has a similar kinematic structure to a human being, we can approximate the transformation from a binocular visual space to a joint space of the manipulator as a linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image observations using a constant linear mapping. This scheme is robust to calibration error, because it uses neither camera angles nor joint angles. Some experimental results are also shown to demonstrate the positioning precision remained unchanged despite the calibration error.

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