Constrained visual servoing based on reachable sets for systems with bounded disturbance

Satoru Ide, Tomoya Komizo, Kenko Uchida

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Visual Servoing (VS) has so many advantages and potentialities in applications that it has been studied intensively from several viewpoints. To realize VS, we have to deal with constraints necessary for VS such as keeping all features of moving target in the field of view and avoiding saturation of manipulator torque limitation. In this paper, we propose a new method to construct VS system taking the constraints for VS into account explicitly based on reachable sets for systems with bounded disturbance. We propose also a switching strategy to get the controller more high performance in addition to constraint fulfillment. We demonstrate efficacies of this method by performing a experiment of VS using 6link manipulator PA10.

    Original languageEnglish
    Title of host publication2006 SICE-ICASE International Joint Conference
    Pages974-977
    Number of pages4
    DOIs
    Publication statusPublished - 2006
    Event2006 SICE-ICASE International Joint Conference - Busan
    Duration: 2006 Oct 182006 Oct 21

    Other

    Other2006 SICE-ICASE International Joint Conference
    CityBusan
    Period06/10/1806/10/21

    Fingerprint

    Visual servoing
    Manipulators
    Torque
    Controllers

    Keywords

    • Bounded disturbance
    • Reachable set
    • Time domain constraint
    • Visual servoing

    ASJC Scopus subject areas

    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Ide, S., Komizo, T., & Uchida, K. (2006). Constrained visual servoing based on reachable sets for systems with bounded disturbance. In 2006 SICE-ICASE International Joint Conference (pp. 974-977). [4109098] https://doi.org/10.1109/SICE.2006.315655

    Constrained visual servoing based on reachable sets for systems with bounded disturbance. / Ide, Satoru; Komizo, Tomoya; Uchida, Kenko.

    2006 SICE-ICASE International Joint Conference. 2006. p. 974-977 4109098.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Ide, S, Komizo, T & Uchida, K 2006, Constrained visual servoing based on reachable sets for systems with bounded disturbance. in 2006 SICE-ICASE International Joint Conference., 4109098, pp. 974-977, 2006 SICE-ICASE International Joint Conference, Busan, 06/10/18. https://doi.org/10.1109/SICE.2006.315655
    Ide S, Komizo T, Uchida K. Constrained visual servoing based on reachable sets for systems with bounded disturbance. In 2006 SICE-ICASE International Joint Conference. 2006. p. 974-977. 4109098 https://doi.org/10.1109/SICE.2006.315655
    Ide, Satoru ; Komizo, Tomoya ; Uchida, Kenko. / Constrained visual servoing based on reachable sets for systems with bounded disturbance. 2006 SICE-ICASE International Joint Conference. 2006. pp. 974-977
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