柴田 昌明

The paper reports the experimental results of applications of the visual feedback control to track the high-speed target. The stereo vision robot with high-speed cameras keeps tracking the moving tip of the double pendulum. The double pendulum is well known to behave in chaotic motion, and then has been employed in our experiments in order to evaluate the performance of the visual tracking control on the robot. The frequency characteristics of the double pendulum is analyzed and the sufficientperformance of the robot is confirmed in several experiments and in the frequency analysis.

The paper proposes the way of visual tracking control for the stereo vision robot, which consists of the active vision system. The robot keeps tracking to the moving target in arbitrary motion, with using the high-speed cameras installed on itself. The double pendulum is employed as the moving target in the experiments, which contains wide distribution of frequency in its tip motion, so that it is preferable to evaluate the performance of the visual tracking control. It is important to estimate the target position and velocity accurately for realizing the non-delayed visual tracking to the moving target. The way of using the estimated target position and velocity in the stereo vision robot is detailed, and the performance of the visual tracking control in the proposed method is analyzed in several physical experiments in the paper.