| ID | 30109 |
| FullText URL | |
| Author |
Hashimoto, Koichi
|
| Abstract | 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 |
| Keywords | feature extraction
manipulators
mobile robots
motion control
multivariable control systems
position control
|
| Note | Digital Object Identifier: 10.1109/IROS.2000.894641
Published with permission from the copyright holder. This is the institute's copy, as published in Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on, 31 Oct.-5 Nov. 2000, Vol. 1, Pages 423-428. Publisher URL:http://dx.doi.org/10.1109/IROS.2000.894641 Copyright © 2000 IEEE. All rights reserved. |
| Published Date | 2000-11
|
| Publication Title |
Intelligent Robots and Systems
|
| Volume | volume1
|
| Start Page | 423
|
| End Page | 428
|
| Content Type |
Journal Article
|
| language |
English
|
| Refereed |
True
|
| DOI | |
| Submission Path | industrial_engineering/79
|
