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Basic Research of Visual Servo which Dynamically Combines Environment Recognition to Motion Control

Research Project

Project/Area Number 01460125
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 機械力学・制御工学
Research InstitutionOsaka University

Principal Investigator

KIMURA Hidenori  Osaka University, Professor, 工学部, 教授 (10029514)

Co-Investigator(Kenkyū-buntansha) HASHIMOTO Koichi  Osaka University, Assistant Professor, 工学部, 助手 (80228410)
KAWATANI Ryoji  Osaka University, Lecturer, 工学部, 講師 (30169734)
FUJII Takao  Kyusyu Institute of Technology, Professor, 情報工学部, 教授 (70029510)
Project Period (FY) 1989 – 1990
Project Status Completed (Fiscal Year 1990)
Budget Amount *help
¥5,200,000 (Direct Cost: ¥5,200,000)
Fiscal Year 1990: ¥1,800,000 (Direct Cost: ¥1,800,000)
Fiscal Year 1989: ¥3,400,000 (Direct Cost: ¥3,400,000)
KeywordsEnvironment Recognition / Motion Control / Visual Feedback Control / Dynamic Visual Servo / Parallel Processing / 視覚サ-ボ系 / ロボット / 運動予測 / 画像処理
Research Abstract

Visual servo system is a feedback control mechanism based on image information, which is essential in motion control of intelligent robots working in unstructured environments. In the conventional visual feedback system, environment recognition and motion control are performed sequentially in step by step manner. However, these conventional look and move schemes are deficient for fast and accurate manipulation.
The purpose of this research project is to combine the environment recognition and the motion control dynamically so as to develop a new visual servo scheme in which the recognition and manipulation processes proceed complementing with each other. We have proposed a visual servo scheme called image-based dynamic visual servo, which is shown to be more accurate than the conventional scheme and to be robust against the measurement noises. The dynamics of this visual servo system is expressed by a state equation, based on which the optimal regulator can be used to stabilize the system.
Realization of this visual servo system requires considerably powerful computing devices. Thus, we have developed a parallel processing system composed by ten 32-bits microprocessors--Transputers. Real-time image-based visual servo is implemented on this hardware system and PUMA 560. Though any Realistic manipulation can not be performed, some basic experiments verify the effectiveness of the proposed visual servo scheme.
The visual servo scheme developed in this research project is derived by applying the available control theory to the image-based visual feedback system, which gives us no novel control theoretic framework of visual feedback. We found that, to build up new framework, robot dynamics must be included in the dynamics of visual servo system, and the inclusive mechanism must be treated as an augmented dynamic system. The results of this research project will become the bases of the future developments of visual feedback control theory.

Report

(3 results)
  • 1990 Annual Research Report   Final Research Report Summary
  • 1989 Annual Research Report
  • Research Products

    (19 results)

All Other

All Publications (19 results)

  • [Publications] Hidenori Kimura: "On the Structure of H^∞ Control and Related Extensions" IEEE Transaction on Automatic Control. (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 川谷 亮治: "H^∞制御系における外乱推定の役割" 計測自動制御学会論文集. (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] 橋本 浩一: "並列処理システムによる作業座標系非線形フィ-ドバック制御" 日本ロボット学会誌. 8,1. 48-56 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Koichi Hashimoto: "An Implementation of a Parallel Algorithm for RealーTime ModelーBased Control on a Network of Microprocessors" The International Journal of Robotics and Research. 9,6. 37-47 (1990)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Koichi Hashimoto: "Manipulator Control with ImageーBased Visual Servo" IEEE International Conference on Robotics and Automation. (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Koichi Hashimoto: "ImageーBased Dynamic Visual Servo for a HandーEye Manipulator" International Symposium on the Mathematical Theory of Networks and Systems. (1991)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] H. Kimura: "On the Structure of H* Control and related Extensions" IEEE Trans. Automatic Control. (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] R. Kawatani: "The Roll of Noise Estimation in H* Control" Trans. SICE. (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] K. Hashimoto: "Cartesian-Space Nonlinear Feedback Control with a Parallel Processing System" J. Robotics Society of Japan. 8, 1. 48-56 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] K. Hashimoto: "An Implementation of a Parallel Algorithm for Real-Time Model-Based Control on a Network of Microprocessors" Int. J. Robotics and Research. 9, 6. 37-47 (1990)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] K. Hashimoto: "Manipulator Control with Image-Based Visual Servo" IEEE Int. Conf. Robotics and Automation. (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] K. Hashimoto: "Image-Based Dynamic Visual Servo for a Hand-Eye Manipulator" MTNS '91. (1991)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1990 Final Research Report Summary
  • [Publications] Hidenori Kimura: "On the Structure of H^∞ control and Related Extensions" IEEE Transaction on Automatic Control. (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] 川谷 亮治: "H^∞制御系における外乱推定の役割" 計測自動制御学会論文集. (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] 橋本 浩一: "並列処理システムによる作業座標系非線形フィ-ドバック制御" 日本ロボット学会誌. 8,1. 48-56 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] Koichi Hashimoto: "An Implementation of a Parallel Algorithm for RealーTime ModelーBased Control on a Network of Microprocessors" The International Journal of Robotics and Reserch. 9,6. 37-47 (1990)

    • Related Report
      1990 Annual Research Report
  • [Publications] Koichi Hashimoto: "Manipulator Control with ImageーBased Visual Servo" IEEE International Conference on Robotics and Automation. (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] Koichi Hashimoto: "ImageーBased Dynamic Visual Servo for a HandーEye Manipulator" International Symposium on the Mathematical Theory of Networks and Systems. (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] 橋本浩一: "動的視覚サ-ボに基づくマニピュレ-タの制御" ロボティクス・メカトロニクス講演会'90. (1990)

    • Related Report
      1989 Annual Research Report

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Published: 1989-04-01   Modified: 2016-04-21  

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