画像空間オブザーバに基づいたビジュアルサーボ系の性能評価

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: 2014/11/01

タイトル(英語): Performance Evaluation of Image-space Observer based Visual Servoing System

著者名: 沖山　航（慶應義塾大学），村上　俊之（慶應義塾大学）

著者名(英語): Ko Okiyama (Keio University), Toshiyuki Murakami (Keio University)

キーワード: ビジュアルサーボ，画像ベース法，画像空間オブザーバ，ゼロ次ホールド，追従性，ロバスト性　　visual servoing，image-based method，image-space observer，zero-order hold，tracking capability，robustness

要約(英語): In recent years, robots are required to operate in various environments and situations. Therefore, robots have to recognize the environment they are in, and adapt to any situations that present themselves. The purpose of this research is to increase the tracking speed and robustness of the visual servoing system. A 3-link planar manipulator mounted with a CCD camera is used to track the target. In order to track the target, an image-based tracking method, suitable for high-speed tracking, is adopted. In this paper, image-space observer (IOB), which compensates disturbances in the image space, is proposed. Then, a zero-order hold is introduced to the IOB to enhance the performance of the visual servoing system. The validity of the proposed method is confirmed through experiments.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.134 No.11 （2014）

本誌掲載ページ: 930-938 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/134/11/134_930/_article/-char/ja/