Binocular visual servoing based on linear time-invariant mapping

摘要

We propose a simple visual servoing scheme based on the sue of binocular visual space. When we use a hand-eye system which has a similar kinematic structure to a human being, we can Approximate the transformation from a binocular visual space to a joint space of the manipulator as a Linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image Observations using a constant linear mapping. This scheme is robust to calibration error, especially to Camera turning, because it uses neither camera angles nor joint angles. Some experimental results are Also shown to demonstrate the positioning precision remained unchanged despite the calibration error.