Analyses about Trackability of Hand-Eye-Vergence Visual Servoing in Lateral Direction

Abstract:

Visual Servoing to Moving Target with Fixed Hand-Eye Cameras Mounted at Hand of Robot is Inevitably Be Affected by Hand Dynamical Oscillations, then it is Hard to Keep Target at the Centre of Camera’s Image, since Nonlinear Dynamical Effects of Whole Manipulator Stand against Tracking Ability. in Order to Solve this Problem, an Eye-Vergence System, where the Visual Servoing Controller of Hand and Eye-Vergence is Controlled Independently, so that the Cameras can Observe the Target Object at the Center of the Camera Images through Eye-Vergence Functions. the Eyes with Light Mass Make the Cameras’ Eye-Sight Direction Rotate Quickly, so the Track Ability of the Eye-Vergence Motion is Superior to the One of Fixed Hand-Eye Configuration. in this Report Merits of Eye-Vengence Visual Servoing for Pose Tracking Have been Confirmed through Frequency Response Experiments.

• Periodical: Applied Mechanics and Materials (Volume 772)
• Pages: 512-517
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.772.512
• Online since: July 2015
• Authors: Yu Cui, Kenta Nishimura, Yusuke Sunami, Mamoru Minami*, Takayuki Matsuno, Akira Yanou
• Keywords: Eye-Vergence, Genetic Algorithm(GA), Visual Servoing

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