Visual servoing with quick eye-vergence to enhance trackability and stability

摘要

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 trackablity is verified by Lyapunov analysis. Then the effectiveness of the decoupled hand & 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.