3-D positioning control by linear visual servoing

This article describes the performance of 3-D positioning control by linear visual servoing using binocular visual space in a human-like hand-eye system which has a similar kinetic structure to a human being. We approximate the nonlinear time-variant mapping from a binocular visual space to the joint space of the manipulator as a linear time-invariant mapping. We also investigate the effect of binocular visual space in linear mapping by comparing it with linear mapping using Cartesian space. Some experimental results are presented using the human-like hand-eye system to demonstrate the performance of 3-D positioning control. This work was presented, in part, at the Seventh International Symposium on Artificial Life and Robotics, Oita, Japan, January 16–18, 2002