Visual servoing with hand-eye manipulator-optimal control approach

This paper proposes a control theoretic formulation and a controller design method for the feature-based visual servoing with redundant features. The linear time-invariant (LTI) formulation copes with the redundant features and provides a simple framework for controller design. The proposed linear quadratic (LQ) method can deal with the redundant features, which is important because the previous LQ methods are not applicable to redundant systems. Moreover, this LQ method gives flexibility for performance improvement instead of the very limited design parameters provided by the generalized inverse and task function controllers. Validity of the LTI model and effectiveness and flexibility of the LQ optimal controller are evaluated by real-time experiments on a PUMA 560 manipulator. Manuscript received August 17, 1994; revised August 3, 1995. This paper was recommended for publication by Associate Editor K. Ikeuchi and Editor S . E. Salcudean upon evaluation of reviewers’ comments. K. Hashimoto is with the Department of Systems Engineering, Okayama University, Okayama 700, Japan. T. Ebine is with the Defence Agency, Tokyo 153, Japan. H. Kimura is with the Department of Mathematical Engineering and Information Physics, University of Tokyo, Tokyo 11 3, Japan. Publisher Item Identifier S l042-296X(96)00491-0. 1042-296~96$05.00