Experimental Evaluations of Approaching Hand/Eye-Vergence Visual Servoing
Fujia Yu*, Wei Song**, Mamoru Minami*, Akira Yanou*,
and Mingcong Deng*
*Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushimanaka, Kita-ku, Okayama 700-8530, Japan
**University of Shanghai, 99 Shangda Road, BaoShan District, Shanghai 200444, China
We focus on controlling a robot’s end-effector to track a moving object meanwhile approaching an object with a desired tracking pose for grasping the object – a process we call Approaching Visual Servoing (AVS). AVS using binocular cameras requires inheritable eyevergence to keep a target in camera images at the center of the camera frame because approaching motion narrows the camera’s visual field or may even lose sight of the object. Experiments using our proposed hand and eye-vergence dual control involved full 6-degree-of-freedom AVS to a moving object by using a 7-link manipulator with a binocular camera, confirming the feasibility of hand and eye-vergence control.
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