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Visual motion observer-based pose control via obstacle avoidance navigation function for eye-in-hand systems

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4 Author(s)
Yusei Tsuruo ; Graduate Program in Mechanical Engineering, Kanazawa Institute of Technology, Ishikawa 921-8501, Japan ; Toshiyuki Murao ; Hiroyuki Kawai ; Masayuki Fujita

This paper investigates passivity-based pose control via an obstacle avoidance navigation function for three-dimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

Published in:

IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society

Date of Conference:

25-28 Oct. 2012