Performance Evaluation of an Image-Space Observer-Based Visual Servoing System

Ko Okiyama, Toshiyuki Murakami

研究成果: Article査読

抄録

In recent years, robots have come to be required to operate in various environments and situations. Therefore, robots have to recognize the environment they are in and adapt to any situations that present themselves. The purpose of this research is to increase the tracking speed and robustness of a visual servoing system. A 3-link planar manipulator provided with a CCD camera is used to track the target. In order to track the target, an image-based tracking method, suitable for high-speed tracking, is used. This paper proposes an image-space observer (IOB), which compensates disturbances in the image space. A zero-order hold is introduced to the IOB to enhance the performance of the visual servoing system. The validity of the proposed method is confirmed through experiments.

本文言語English
ページ(範囲)34-43
ページ数10
ジャーナルElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
196
2
DOI
出版ステータスPublished - 2016 7月 1

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学

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