Skip to main content
SpringerLink
Log in

Eye-vergence visual servoing enhancing Lyapunov-stable trackability

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

Visual servoing methods for hand–eye configuration are vulnerable for hand’s dynamical oscillation, since nonlinear dynamical effects of whole manipulator stand against the stable tracking ability (trackability). Our proposal to solve this problem is that the controller for visual servoing of the hand and the one for eye-vergence should be separated independently based on decoupling each other, where the trackability is verified by Lyapunov analysis. Then the effectiveness of the decoupled hand and eye-vergence visual servoing method is evaluated through simulations incorporated with actual dynamics of 7-DoF robot with additional 3-DoF for eye-vergence mechanism by amplitude and phase frequency analysis.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

References

  1. Hutchinson S, Hager G, Corke P (1996) A tutorial on visual servo control. IEEE Trans Robotics Autom 12(5):651–670

    Article  Google Scholar 

  2. Sepp W, Fuchs S, Hirzinger G (2006) Hierarchical featureless tracking for position-based 6-DoF visual servoing. In: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), pp 4310–4315

  3. Tahri O, Chaumette F (2005) Point-based and region-based image moments for visual servoing of planar objects. IEEE Trans Robotics 21(6):1116–1127

    Article  Google Scholar 

  4. Malis E, Chaumentte F, Boudet S (1999) 2-1/2-D visual servoing. IEEE Trans Robotics Autom 15(2):238–250

    Article  Google Scholar 

  5. Song W, Minami M, Mae Y, Aoyagi S (2007) On-line evolutionary head pose measurement by feedforward stereo model matching. In: Proceedings of IEEE International Conference Robotics Automation (ICRA), pp 4394–4400

  6. Hamel T, Mahony R (2002) Visual servoing of an under-actuated dynamic rigid-body system: an Image-based approach. IEEE Trans Robotics Autom 18(2):187–198

    Article  Google Scholar 

  7. Yoshikawa T “Foundations of Robotics: analysis and control”, ISBN 0-262-24028-9

  8. Song W, Yu F, Minami M (2010) 3D visual servoing by feedforward evolutionary recognition. J Adv Mech Des Syst Manuf (JAMDSM) 4(4):739–755

    Google Scholar 

  9. Song W, Minami M, Aoyagi S (2007) On-line stable evolutionary recognition based on unit quaternion representation by motion-feedforward compensation. Int J Intell Comput Med Sci Image Process (IC-MED) 2(2):127–139

    Google Scholar 

  10. Minami M, Song W (2009) Hand-eye-motion invariant pose estimation with on-line 1-step GA -3D pose tracking accuracy evaluation in dynamic hand–eye oscillation. J Robotics Mechatron 21(6):709–719

    Google Scholar 

  11. Siciliano B, Villani L (2000) Robot Force Control, ISBN 0-7923-7733-8

  12. Yu F, Song W, Minami M, Yanou A (2011) Frequency response of 3-D full-tracking visual servoing experiment with eye-vergence. In: Proceedings of IECON, pp 106–111

Download references

Author information

Authors and Affiliations

  1. Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Okayama, Japan

    Fujia Yu, Mamoru Minami & Akira Yanou

  2. School of Mechatronics Engineering and Automation, Shanghai University, 149 Yanchang Road, Zhabei District, Shanghai, China

    Wei Song

Authors
  1. Fujia Yu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mamoru Minami
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Wei Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Akira Yanou
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mamoru Minami.

Additional information

This work was presented in part at the 17th International Symposium on Artificial Life and Robotics, Oita, Japan, January 19–21, 2012.

About this article

Cite this article

Yu, F., Minami, M., Song, W. et al. Eye-vergence visual servoing enhancing Lyapunov-stable trackability. Artif Life Robotics 18, 27–35 (2013). https://doi.org/10.1007/s10015-013-0095-z

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-013-0095-z

Keywords

Search

Navigation