High-speed Visual Feedback Control for Grasping and Manipulation - Visual Servoing via Advanced Numerical Methods - page 36

Chapter 3
High-speed Visual Feedback Control for
Grasping and Manipulation

Akio Namiki, Taku Senoo, Satoru Mizusawa, and Masatoshi Ishikawa

Abstract. Recently, several types of high-speed vision in which the sampling rate
is more than 1 kHz have been developed. In the high-speed vision system, not only
sensing but also processing is achieved at high-speed, and it improves the perfor-
mance of visual servoing. In this chapter, we described some examples of visual
feedback control methods in our high-speed manipulation system. First, a hybrid
trajectory generator using visual information is proposed for a batting task. In the
method, the manipulator trajectory defined as a polynomial function of time is mod-
ified by visual information directly. Next, a visual servoing control with a passive
joint problem is proposed for tool manipulation. Experimental results are shown.

3.1 Introduction

In general-purpose dexterous manipulation systems, it is necessary to manipulate
many types of objects. In order to recognize any type of object, vision is one of the
most important sensations for manipulation. In usual vision systems such as charge-
coupled device (CCD) camera, the sampling rate is 30 Hz which is the same rate
of human visual recognition. The rate is not enough to recognize an object moving
at high-speed. A human solves this problem by his excellent ability to predict the
future, however, its result is not always reliable.