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

Yusei Tsuruo*, Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ2542-2547
ページ数6
DOI
出版ステータスPublished - 2012
イベント38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC
継続期間: 2012 10 252012 10 28

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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