Tracking control to multiple objects for plural hand-eye systems

This paper describes a tracking control for plural hand-eye systems with respect to multiple objects. In case that hand-eye systems attempt to realize tracking control in regard to multiple objects simultaneously, there is a situation that it is desirable hand-eye system changes target object. For example, if a hand-eye system continues to track the same target object, collision with the other hand-eye system may happen. Avoiding such a collision motion, the optimal selection of the target object for each hand-eye system is required. To address the above issue, this paper proposes an approach for tracking control of multiple objects in plural hand-eye systems. The proposed approach is confirmed by numerical simulations and experiments.