Frequency response experiments of eye-vergence visual servoing in lateral motion with 3D evolutionary pose tracking

详细信息    查看全文

• 作者：Hongzhi Tian ; Yu Cui ; Mamoru Minami ; Akira Yanou
• 关键词：Visual servoing ; Eye ; vergence ; Model ; based matching ; Quaternion
• 刊名：Artificial Life and Robotics
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：22
• 期：1
• 页码：36-43
• 全文大小：
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence (incl. Robotics); Computation by Abstract Devices; Control, Robotics, Mechatronics;
• 出版者：Springer Japan
• ISSN：1614-7456
• 卷排序：22

文摘

Visual servoing towards moving target with hand-eye cameras fixed at hand is inevitably affected by hand dynamical oscillations. Therefore, it is difficult to make target position keep always at the center of camera’s view, as nonlinear dynamical effects of whole manipulator stand against tracking ability. To overcome this defect of the hand-eye fixed camera system, an eye-vergence system has been put forward, where the cameras could rotate to observe the target object. The visual servoing controllers of hand and eye-vergence are installed independently, so that it can observe the target object at the center of camera images through eye-vergence function. The dynamical superiorities of eye-vergence system are verified through frequency response experiments, comparing with hand tracking performances and the proposed eye-vergence tracking performances. This paper analyzes the performance of 3D-object position and orientation tracking, in which orientation representation method is based on quaternion, and the orientation tracking results are shown with more comprehensive analysis of system performance.