A tracking control of 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 one of these hand-eye systems changes its target object. For example, if the hand-eye system continues to track the same target object, collision with the other hand-eye system may happen. To avoid such a collision, 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. In proposed approach a virtual image plane is introduced so as to take into account kinematics relation with respect to each camera and target. And on the plane the visual tracking controller is constructed by using weight with regard to target objects. This paper also applies the proposed approach to tracking control in two planar manipulator and numerical simulations and experiments show the efficiency.