High Tracking Experimental Performances by Approaching Hand/Eye-Vergence Visual Servoing
نویسندگان
چکیده
Abstract—In this paper, we focus on how to control the robot’s end-effector to track an object, meanwhile, to approach it with a desired posture for grasping, which we named as “Approaching Visual Servoing (AVS).” AVS with binocular cameras needs inheritably eye-vergence motion to keep cameras’ sight against the target since approaching motion makes the cameras sight narrow or losing the object. We propose a hand & eye-vergence dual control system to perform AVS. The experiment of full 6-DoF Approaching Visual Servoing experiments to a moving object by a 7-link manipulator installed with a binocular camera system, confirmed the ability of Hand & Eye-vergence control system.
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