Visual servoing with hand-eye manipulator - Optimal control approach

Koichi Hashimoto, Takumi Ebine, Hidenori Kimura

Research output: Contribution to journalArticlepeer-review

98 Citations (Scopus)


This paper proposes a control theoretic formulation and a controller design method for the feature-based visual servoing with redundant features. The linear time-invariant (LTI) formulation copes with the redundant features and provides a simple framework for controller design. The proposed linear quadratic (LQ) method can deal with the redundant features, which is important because the previous LQ methods are not applicable to redundant systems. Moreover, this LQ method gives flexibility for performance improvement instead of the very limited design parameters provided by the generalized inverse and task function controllers. Validity of the LTI model and effectiveness and flexibility of the LQ optimal controller are evaluated by real-time experiments on a PUMA 560 manipulator.

Original languageEnglish
Pages (from-to)766-774
Number of pages9
JournalIEEE Transactions on Robotics and Automation
Issue number5
Publication statusPublished - 1996


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