Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems
Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems
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DOI：
10.1109/iecon.2012.6388850
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
Yusei Tsuruo;T. Murao;H. Kawai;M. Fujita
中科院分区：
文献类型：
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作者：
Yusei Tsuruo;T. Murao;H. Kawai;M. Fujita
本文研究了通过三维 (3-D) 手眼视觉反馈系统的避障导航功能进行基于被动的姿态控制。首先，提出了基于视觉运动观察器的 3D 手眼视觉反馈系统的姿势控制。接下来，通过避障导航功能设计适合视觉运动误差系统的路径规划器，以在伺服过程中保持无碰撞。最后，通过计算机仿真验证了所提方法的有效性。
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.