Title :
Potential switching control in visual servo
Author :
Hashimoto, Koichi ; Noritsugu, Toshiro
Author_Institution :
Dept. of Syst. Eng., Okayama Univ., Japan
Abstract :
Stability of feature-based visual servoing controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or, even worse, they may not converge. In this paper, the stability of feature-based visual servoing is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region
Keywords :
manipulator kinematics; robot vision; servomechanisms; stability; artificial potential switching; feature-based visual servoing; manipulator kinematics; robot vision; stability; stable region; Automatic control; Cameras; Control systems; Image converters; Jacobian matrices; Robot kinematics; Robot vision systems; Robotics and automation; Servomechanisms; Stability;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846446
