Visual Servoing via Advanced Numerical Methods
Robots able to imitate human beings have been at the core of stories of science?ctionaswellasdreamsofinventorsforalongtime.Amongthe various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one o
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Graziano Chesi and Koichi Hashimoto (Eds.)
Visual Servoing via Advanced Numerical Methods
ABC
Series Advisory Board P. Fleming, P. Kokotovic, A.B. Kurzhanski, H. Kwakernaak, A. Rantzer, J.N. Tsitsiklis
Editors Prof. Graziano Chesi
Prof. Koichi Hashimoto
University of Hong Kong Department of Electrical and Electronic Engineering Pokfulam Road Hong Kong Chow Yei Ching Building China, People’s Republic E-mail: [email protected]
Tohoku University Dept. System Information Sciences 6-6-01 Aramaki-Aza Aoba Sendai Aoba-ku 980-8579 Japan E-mail: [email protected]
ISBN 978-1-84996-088-5
e-ISBN 978-1-84996-089-2
DOI 10.1007/978-1-84996-089-2 Lecture Notes in Control and Information Sciences
ISSN 0170-8643
Library of Congress Control Number: Applied for c
2010 Springer-Verlag Berlin Heidelberg
MATLAB and Simulink are registered trademarks of The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA 01760-2098, USA. http://www.mathworks.com This work is subject to copyright. All rights are reserved, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilm or in any other way, and storage in data banks. Duplication of this publication or parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965, in its current version, and permission for use must always be obtained from Springer. Violations are liable for prosecution under the German Copyright Law. The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Typeset & Cover Design: Scientific Publishing Services Pvt. Ltd., Chennai, India. Printed on acid-free paper 543210 springer.com
To my family Shing Chee, Isabella and Sofia (GC).
To my family Ritsuko, Riho, Daisuke, Kanta, Teppei and Shogo (KH).
This book is dedicated in memory of Dr. Ryosuke Mori (1972–2008).
Preface
Robots able to imitate human beings have been at the core of stories of science fiction as well as dreams of inventors for a long time. Among the various skills that Mother Nature has provided us with and that often go forgotten, the ability of sight is certainly one of the most important. Perhaps inspired by tales of Isaac Asimov, comics and cartoons, and surely helped by the progress of electronics in recent decades, researchers have progressively made the dream of creating robots able to move and operate by exploiting artificial vision a concrete reality. Technically speaking, we would say that these robots position themselves and their end-effectors by using the view provided by some artificial eyes as feedback information. Indeed, the artificial eyes are visual sensors such as cameras that have the function to acquire an image of the environment. Such an image describes if and how the robot is moving toward the goal and
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