視覚レジストレーションを考慮した適応型視覚サーボによる遠隔操作

概要

論文の詳細を見る
In this study, keeping the medical applications in mind, the interface that gets the accurate visual registration is developed in order to achieve the effective and suitable micro operation using master-slave system. In this paper, a novel teleoperation based on a feature-based visual servo is proposed as one of superior methods to realize the visual registration. Especially, the feature-based scheme uses an object image feature directly without computing the object 3D information. Furthermore, H_∞ feedback controller is designed for the linearized system. And, the adaptive visual servo consisting of on-line estimator of image Jacobian is designed. Human can recognize the master-slave manipulators as a tool and operate it intuitively. The validity of proposed method is confirmed by the experiments of teleoperation.
日本バーチャルリアリティ学会の論文
2001-12-31