関節可動範囲を最大許容する遅れなし追従視制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/05/01

タイトル(英語): Non-delayed Visual Servo Control Admitting Joint Range of Motion Maximally

著者名: 伊藤　正英（成蹊大学理工学部システムデザイン学科），柴田　昌明（成蹊大学理工学部システムデザイン学科）

著者名(英語): Masahide Ito (Department of System Design Engineering, Faculty of Science and Technology, Seikei University), Masaaki Shibata (Department of System Design Engineering, Faculty of Science and Technology, Seikei University)

キーワード: 視覚サーボ，画像ベース法，移動観測対象，冗長性，関節可動限界　　visual servoing，image-based method，moving target object，redundancy，joint limits

要約(英語): This paper addresses an avoidance problem of robot joint limits in visual servoing. Many robotic systems are practically subject to some physical constraints. In particular, violation of joint limits can deteriorate control performance and lead to the breakdown of the system. Redundancy appears frequently in the visual servoing formulation. To this redundancy, the authors introduce the maximal admission function. Consequently, both avoiding joint limits and exploiting joint range of motion effectively are achieved in visual servoing. Here, we consider a moving object as the target of visual servoing. In visual servoing, the case of a moving object is more severe than the case of a stationary object. The effectiveness of the proposed scheme is validated experimentally. The obtained results are also evaluated through a comparison with the conventional schemes.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.5 （2012）

本誌掲載ページ: 588-595 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/5/132_5_588/_article/-char/ja/