start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=423
end-page=428
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200011
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Potential problems and switching control for visual servoing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=feature extraction
kn-keyword=feature extraction
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=motion control
kn-keyword=motion control
en-keyword=multivariable control systems
kn-keyword=multivariable control systems
en-keyword=position control
kn-keyword=position control
END