Page 185 - Human Inspired Dexterity in Robotic Manipulation

A Grasping and Manipulation Scheme 183

Measured position x and virtual position x vir (m) 0.02 xd vir
0.03
xd
x

xvir
0.01

0
2
4
0
Time (s) 6 8 10
Fig. 9.12 Transient responses of the x components of the positions of the measured-
object frame, x, and the virtual-object frame, x vir . µ xd

50

25
µ x
Object orientation µ x and virtual orientation µ x vir (degrees) –25 0 µ xd vir
µ x vir

–50
2
4
0
Time (s) 6 8 10
Fig. 9.13 Transient responses of the θ x component of the orientation of the measured-
component of the orientation of the virtual-object frame,
object frame, R, and the θ x vir
R vir , expressed in terms of XYZ Euler angles.
both the measured- and virtual-object frames generally converge to the
desired values with no unstable behavior.
Thus, these experimental results confirm the practical usefulness of the
proposed visual servoing method.

9.7 CONCLUSION

In this chapter, we presented a visual servoing method for object manipu-
lation that is robust to not only temporary loss, but also a considerable time