TY - GEN
T1 - Robust visual servoing for object manipulation with large time-delays of visual information
AU - Kawamura, Akihiro
AU - Tahara, Kenji
AU - Kurazume, Ryo
AU - Hasegawa, Tsutomu
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This paper proposes a new visual servoing method for object manipulation robust to considerable time-delays of visual information. There still remain several problems in visual servoing methods although they are quite useful and effective for dexterous object manipulation. For instance, time-delays to obtain necessary information for object manipulation from visual images induce unstable behavior. The time-delays are mainly caused by low sampling rate of visual sensing system, computational cost for image processing, and latency of data transmission from visual sensor to processor. The method makes it possible to avoid such unstable behavior of the systems due to considerable time-delays using virtual object frame defined by only each joint angle. Firstly, a new control scheme for object manipulation using the virtual object frame is designed. Next, numerical simulations are conducted to verify the effectiveness of the control scheme. Finally, experimental results are shown to demonstrate the practical usefulness of proposed method.
AB - This paper proposes a new visual servoing method for object manipulation robust to considerable time-delays of visual information. There still remain several problems in visual servoing methods although they are quite useful and effective for dexterous object manipulation. For instance, time-delays to obtain necessary information for object manipulation from visual images induce unstable behavior. The time-delays are mainly caused by low sampling rate of visual sensing system, computational cost for image processing, and latency of data transmission from visual sensor to processor. The method makes it possible to avoid such unstable behavior of the systems due to considerable time-delays using virtual object frame defined by only each joint angle. Firstly, a new control scheme for object manipulation using the virtual object frame is designed. Next, numerical simulations are conducted to verify the effectiveness of the control scheme. Finally, experimental results are shown to demonstrate the practical usefulness of proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84872354338&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872354338&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385589
DO - 10.1109/IROS.2012.6385589
M3 - Conference contribution
AN - SCOPUS:84872354338
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4797
EP - 4803
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -