ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	英語
発表タイトル	6-dof Eye-Vergence Visual Servoing by 1-step GA Pose Tracking
会議名	17th International Symposium on Applied Electromagnetics and Mechanics (ISEM2015)
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎Yu CUI, Kenta NISHIMURA, Yusuke SUNAMI, Mamoru MINAMI and Akira YANOU
発表年月日	2015/09
開催地 （都市, 国名）	Kobe, Japan
概要	Visual servoing to moving target with hand-eye cameras fixed at hand is inevitably affected by hand dynamical oscillations, then it is hard to keep target at the centre of camera's image, since nonlinear dynamical effects of whole manipulator stand against tracking abilities of robots. In order to solve this problem, we come up with a system where the visual servoing controller of the hand and eye-vergence is separated independently, so that the cameras can observe the target object at the center of the camera images through eye-vergence functions. The eye with light masses make the cameras' eye-sight direction rotate quickly than the hand's, so the track ability of the eye-vergence motion is superior to the one of hand's. In this report, merits of eye-vengence visual servoing for pose tracking have been confirmed through frequency response experiments on condition of full 6-dof pose being estimated in real time.