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

Satoru Ide; Tomoya Komizo; Kenko Uchida

doi:10.1109/SICE.2006.315655

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

Satoru Ide^*, Tomoya Komizo, Kenko Uchida

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2006 SICE-ICASE International Joint Conference
Pages	974-977
Number of pages	4
DOIs	https://doi.org/10.1109/SICE.2006.315655
Publication status	Published - 2006
Event	2006 SICE-ICASE International Joint Conference - Busan Duration: 2006 Oct 18 → 2006 Oct 21

Other

Other	2006 SICE-ICASE International Joint Conference
City	Busan
Period	06/10/18 → 06/10/21

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

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10.1109/SICE.2006.315655

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title = "Constrained visual servoing based on reachable sets for systems with bounded disturbance",

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.",

keywords = "Bounded disturbance, Reachable set, Time domain constraint, Visual servoing",

author = "Satoru Ide and Tomoya Komizo and Kenko Uchida",

year = "2006",

doi = "10.1109/SICE.2006.315655",

language = "English",

isbn = "8995003855",

pages = "974--977",

booktitle = "2006 SICE-ICASE International Joint Conference",

note = "2006 SICE-ICASE International Joint Conference ; Conference date: 18-10-2006 Through 21-10-2006",

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TY - GEN

T1 - Constrained visual servoing based on reachable sets for systems with bounded disturbance

AU - Ide, Satoru

AU - Komizo, Tomoya

AU - Uchida, Kenko

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - Bounded disturbance

KW - Reachable set

KW - Time domain constraint

KW - Visual servoing

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U2 - 10.1109/SICE.2006.315655

DO - 10.1109/SICE.2006.315655

M3 - Conference contribution

AN - SCOPUS:34250769444

SN - 8995003855

SN - 9788995003855

SP - 974

EP - 977

BT - 2006 SICE-ICASE International Joint Conference

T2 - 2006 SICE-ICASE International Joint Conference

Y2 - 18 October 2006 through 21 October 2006

ER -

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

Abstract

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Keywords

ASJC Scopus subject areas

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