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In this paper, we focus on how to control the robot end-effector to track an object, meanwhile, to approach it with a suitable posture for grasping. We named it “Approaching Visual Servoing”. A proposed hand & eye-vergence dual control system is used to perform Approaching Visual Servoing, aiming at quick eye-tracking and stable hand servoing and approaching. This idea stems from hammerhead shark...
Visual servoing methods for hand-eye configuration are vulnerable for hand's dynamical oscillation, since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where...
Visual servoing methods for hand-eye configuration are vulnerable for hand's dynamical oscillation, since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where...
In this paper, we propose a new two-way visual servoing method, named as hand & eye-vergence visual servoing. This idea stems from animal's evolution history, predator have evolved their eye positions to be at the front face and their eyes turn to gaze at the target prey to be suited to triangulation, enhancing the ability to measure precisely the distance to the prey for catching it. This animal's...
This paper deals with position-based 6-DoF visual servoing. With a common sense of feedback control, we stress that improvement of the dynamics of the sensing unit is important for a stable visual servoing. We propose a method to improve dynamics in visual recognition, with compensating the fictional motion of the target in the camera images based on kinematics of the manipulator, by extracting the...
This paper presents a pose measurement method of a 3D object detected by hand-eye cameras. We propose a motion-feedforward (MFF) method to improve visual recognition dynamics, which become worse by disturbing hand-eye motion during visual servoing of the robot manipulator. The MFF method is used to compensate the fictional target motions in the camera view induced by the end-effectorpsilas motion,...
In this paper, an uncalibrated dynamic visual servoing algorithm is proposed and analyzed. No calibration or robot model is needed. After a brief introduction of the development of uncalibrated visual servoing, the theoretical backgrounds and mathematical requirements of recursive least square (RLS) are stated respectively. Then the core uncalibrated visual servoing algorithm, in RLS form, or more...
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