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Artificial Life and Robotics
Published in: Artificial Life and Robotics 1/2017

15-09-2016 | Original Article

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

Authors: Hongzhi Tian, Yu Cui, Mamoru Minami, Akira Yanou

Published in: Artificial Life and Robotics | Issue 1/2017

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Abstract

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.
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Metadata
Title
Frequency response experiments of eye-vergence visual servoing in lateral motion with 3D evolutionary pose tracking
Authors
Hongzhi Tian
Yu Cui
Mamoru Minami
Akira Yanou
Publication date
15-09-2016
Publisher
Springer Japan
Published in
Artificial Life and Robotics / Issue 1/2017
Print ISSN: 1433-5298
Electronic ISSN: 1614-7456
DOI
https://doi.org/10.1007/s10015-016-0319-0

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