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A visual servoing system with feature prediction using a motion observer

✍ Scribed by Kunihiko Saruta; Hiroshi Fujimoto; Yoichi Hori

Publisher: John Wiley and Sons
Year: 2003
Tongue: English
Weight: 977 KB
Volume: 145
Category: Article
ISSN: 0424-7760
DOI: 10.1002/eej.10154

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✦ Synopsis

Abstract

A visual servo is an eye‐in‐hand robot system that directly uses real‐time visual information for control. This paper proposes a novel visual servoing system with motion observer (MOB)‐based feature prediction. The position of the target object cannot be observed directly. The motion observer is designed as a minimum‐order observer and is useful for high‐performance servoing. The effectiveness of the proposed method is shown by simulations and experiments. © 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 145(1): 67–73, 2003; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.10154

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