Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Yusei Tsuruo, Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

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

Abstract

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2542-2547
Number of pages6
DOIs
Publication statusPublished - 2012
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC
Duration: 2012 Oct 252012 Oct 28

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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