定常姿勢と動特性を考慮したアクティブ双眼ロボットの追従視制御

概要

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This This paper describes a control method for moving object tracking on an active stereo vision robot. Our developed robot has 3 rotational axes; two are for camera-pan motion and one for base rotation, and then has structural redundancy to track the target object. The aim of our approach is to achieve both requirements of rigid tracking and accurate position estimating, and then the characteristics of each rotational axis are considered form the viewpoint of dynamics. Since the base axis has heavier inertia than the camera axes, the camera-pan motion is preferable to realize rigid tracking in the high gain servoing. On the other hand, the base is required to face to the target to prevent the position estimation accuracy from getting worse, so that the base would turn to the target in the slow response. The former motion is realized in the image-base visual servo control law, while the latter in the mechanical impedance control law, and then these control laws are unified in the proposed method. Additionally, the Kalman filter is introduced for prediction of the target motion. The filter contributes to more precise target position estimation. The validity of our method is confirmed in the physical experimental results.
公益社団法人精密工学会の論文
2005-08-05