3-D positioning control by linear visual servoing

被引：0
|
作者：
K. Namba
N. Maru
机构：
[1] Wakayama University,Graduate School of Systems Engineering
[2] Wakayama University,Department of Systems Engineering
来源：
Artificial Life and Robotics | 2003年 / 7卷 / 1-2期
关键词：
Humanoid robot; Linear visual servoing; 3-D positioning control; Binocular visual space;
D O I：
10.1007/BF02480882
中图分类号：
学科分类号：
摘要：
This article describes the performance of 3-D positioning control by linear visual servoing using binocular visual space in a human-like hand-eye system which has a similar kinetic structure to a human being. We approximate the nonlinear time-variant mapping from a binocular visual space to the joint space of the manipulator as a linear time-invariant mapping. We also investigate the effect of binocular visual space in linear mapping by comparing it with linear mapping using Cartesian space. Some experimental results are presented using the human-like hand-eye system to demonstrate the performance of 3-D positioning control.
引用
收藏
页码：28 / 31
页数：3
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