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

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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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Authors and Affiliations

  1. Division of Mechanical and Systems Engineering, Graduate School of Natural Science and Technology, Okayama University, 1-1-1 Tsushima-naka, Kita-ku, Okayama, 700-8530, Japan

    Hongzhi Tian, Yu Cui & Mamoru Minami

  2. Department of Radiological Technology, Kawasaki College of Allied Health Professions, Kurashiki, Japan

    Akira Yanou

Authors
  1. Hongzhi Tian
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  2. Yu Cui
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  3. Mamoru Minami
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  4. Akira Yanou
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Corresponding author

Correspondence to Hongzhi Tian.

Additional information

This work was presented in part at the 21st International Symposium on Artificial Life and Robotics, Beppu, Oita, January 20–22, 2016.

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Tian, H., Cui, Y., Minami, M. et al. Frequency response experiments of eye-vergence visual servoing in lateral motion with 3D evolutionary pose tracking. Artif Life Robotics 22, 36–43 (2017). https://doi.org/10.1007/s10015-016-0319-0

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  • DOI: https://doi.org/10.1007/s10015-016-0319-0

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