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Title
Japanese: 
English:Visual Motion Observer-based Pose Control via Obstacle Avoidance Navigation Function for Eye-in-Hand Systems 
Author
Japanese: Yusei Tsuruo, 村尾 俊幸, 河合 宏之, 藤田 政之.  
English: Yusei Tsuruo, T. Murao, H. Kawai, M. Fujita.  
Language English 
Journal/Book name
Japanese: 
English:Proc. of IEEE IECON 2012 
Volume, Number, Page         pp. 2531-2536
Published date Oct. 25, 2012 
Publisher
Japanese: 
English:IEEE 
Conference name
Japanese: 
English:IEEE IECON 2012 
Conference site
Japanese: 
English:Montreal 
DOI https://doi.org/10.1109/IECON.2012.6388850
Abstract This paper investigates passivity-based pose control via an obstacle avoidance navigation function for threedimensional (3-D) eye-in-hand visual feedback systems. Firstly, visual motion observer-based pose control for 3-D eye-in-hand visual feedback systems is presented. Next, a path planner to be appropriate for the visual motion error system is designed through an obstacle avoidance navigation function to keep collision-free during servoing. Finally, the effectiveness of the proposed method is verified through computer simulations.

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