Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Yusei Tsuruo; Toshiyuki Murao; Hiroyuki Kawai; Masayuki Fujita

doi:10.1109/IECON.2012.6388850

Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Yusei Tsuruo^*, Toshiyuki Murao, Hiroyuki Kawai, Masayuki Fujita

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Pages	2542-2547
Number of pages	6
DOIs	https://doi.org/10.1109/IECON.2012.6388850
Publication status	Published - 2012
Event	38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC Duration: 2012 Oct 25 → 2012 Oct 28

Other

Other	38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
City	Montreal, QC
Period	12/10/25 → 12/10/28

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/IECON.2012.6388850

Cite this

Tsuruo, Y, Murao, T, Kawai, H & Fujita, M 2012, Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems. in IECON Proceedings (Industrial Electronics Conference)., 6388850, pp. 2542-2547, 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012, Montreal, QC, 12/10/25. https://doi.org/10.1109/IECON.2012.6388850

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AB - This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

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Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

Abstract

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