We consider the visual servo system as an united dynamical system which has nonlinear measurement and nonlinear dynamics based on the feature-based approach. In Project , a new sensing architecture for intelligent system is mainly studied. Using High Speed Visual Feedback A grasping system using high speed visual feedback is developed. This is controlled using a multi-DSP controller and realtime parallel sensory feedback is realized. As a result the hand has succeeded in grasping against a target which moves randomly at high speed.
Experimental result is presented.
The visual impedance is a new scheme for vision based control which realizes task-level dynamical robot control which is simply described as applying image features to the impedance equation so that integration of a visual servo and a conventional servo system can be naturally accomplished. A new processing architecture for sensory information is proposed. In this architecture the speed of sensory feedback is the most important element. This gives a great influence on robotic motion at realtime. With the rapid development of micro technology, it becomes more important to handle micro objects such as LSIs and cells.