Dynamic visual feedback control for a hand-eye manipulator

K. Hashimoto; T. Ebinc; H. Kimura

doi:10.1109/IROS.1992.601493

Dynamic visual feedback control for a hand-eye manipulator

K. Hashimoto, T. Ebinc, H. Kimura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper proposes a visual feedback control scheme for a manipulator with a camera on the hand. Incorporating the dynamics of the visual information into the manipulator control, we formulate a state space representation of the visual servo mechanism. An optimal control approach to visual servoing is developed based on the state space formulation. The proposed algorithm gives a simple time-invariant state feedback controller, which allows a high sample rate control system. Real-time experiments of object tracking with a PL'MA 56(1 manipulator are conducted to show the validity of the optimal control scheme. Experimental results show the superiority of the proposed approach compared to the conventional visual feedback control algorithms.

Original language	English
Title of host publication	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Sensor-Based Robotics and Opportunties for its Industrial Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1863-1868
Number of pages	6
ISBN (Electronic)	0780307372
DOIs	https://doi.org/10.1109/IROS.1992.601493
Publication status	Published - 1992
Externally published	Yes
Event	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States Duration: 1992 Jul 7 → 1992 Jul 10

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	3
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country/Territory	United States
City	Raleigh
Period	92/7/7 → 92/7/10

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.1992.601493

Cite this

Hashimoto, K., Ebinc, T., & Kimura, H. (1992). Dynamic visual feedback control for a hand-eye manipulator. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 1863-1868). [601493] (IEEE International Conference on Intelligent Robots and Systems; Vol. 3). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.601493

Dynamic visual feedback control for a hand-eye manipulator. / Hashimoto, K.; Ebinc, T.; Kimura, H.
IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. p. 1863-1868 601493 (IEEE International Conference on Intelligent Robots and Systems; Vol. 3).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hashimoto, K, Ebinc, T & Kimura, H 1992, Dynamic visual feedback control for a hand-eye manipulator. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications., 601493, IEEE International Conference on Intelligent Robots and Systems, vol. 3, Institute of Electrical and Electronics Engineers Inc., pp. 1863-1868, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, United States, 92/7/7. https://doi.org/10.1109/IROS.1992.601493

Hashimoto K, Ebinc T, Kimura H. Dynamic visual feedback control for a hand-eye manipulator. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc. 1992. p. 1863-1868. 601493. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.1992.601493

Hashimoto, K. ; Ebinc, T. ; Kimura, H. / Dynamic visual feedback control for a hand-eye manipulator. IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 1863-1868 (IEEE International Conference on Intelligent Robots and Systems).

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AB - This paper proposes a visual feedback control scheme for a manipulator with a camera on the hand. Incorporating the dynamics of the visual information into the manipulator control, we formulate a state space representation of the visual servo mechanism. An optimal control approach to visual servoing is developed based on the state space formulation. The proposed algorithm gives a simple time-invariant state feedback controller, which allows a high sample rate control system. Real-time experiments of object tracking with a PL'MA 56(1 manipulator are conducted to show the validity of the optimal control scheme. Experimental results show the superiority of the proposed approach compared to the conventional visual feedback control algorithms.

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Dynamic visual feedback control for a hand-eye manipulator

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