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

Satoru Ide, Tomoya Komizo, Kenko Uchida

    研究成果: Conference contribution

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトル2006 SICE-ICASE International Joint Conference
    ページ974-977
    ページ数4
    DOI
    出版物ステータスPublished - 2006
    イベント2006 SICE-ICASE International Joint Conference - Busan
    継続期間: 2006 10 182006 10 21

    Other

    Other2006 SICE-ICASE International Joint Conference
    Busan
    期間06/10/1806/10/21

    ASJC Scopus subject areas

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

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  • これを引用

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