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A visual servoing system with feature prediction using a motion observer
Author(s) -
Saruta Kunihiko,
Fujimoto Hiroshi,
Hori Yoichi
Publication year - 2003
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.10154
Subject(s) - visual servoing , computer vision , observer (physics) , artificial intelligence , computer science , feature (linguistics) , servomechanism , motion (physics) , position (finance) , servo , robot , motion control , object (grammar) , control theory (sociology) , control engineering , engineering , control (management) , physics , linguistics , philosophy , finance , quantum mechanics , economics
A visual servo is an eye‐in‐hand robot system that directly uses real‐time visual information for control. This paper proposes a novel visual servoing system with motion observer (MOB)‐based feature prediction. The position of the target object cannot be observed directly. The motion observer is designed as a minimum‐order observer and is useful for high‐performance servoing. The effectiveness of the proposed method is shown by simulations and experiments. © 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 145(1): 67–73, 2003; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10154
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