Optimizing Hand/Eye Configuration for Visual-Servo Systems

W e derived a quant i tat ive measure of t he ability of a camera setup t o observe the changes in image features due t o relative m o t i o n [ I O ] . Thrs measure of motion perceptibility has m a n y applications in evaluating a robot hand /eye setup w i th respect t o t h e ease of achieving vision-based control, and steering away f r o m singular configurat ions. M o t i o n perceptibil i ty can be combined w i th t h e traditional n o t i o n of manipulabi l i ty , i n t o a composi te perceptibility/manipulability measure. I n this paper w e demonstrate how this composi te measure m a y be applied t o a n u m b e r of diff e ren t problems involving relative hand /eye posit ioning and control. T h e s e problems include optim a l camera placement , act ive camera trajectory p lann ing , robot trajectory planning, and feature selection f o r visual servo control. W e consider the general f o rmula t ion of each of these problems, and several others , in t e r m s of t he m o t i o n percept ibi l i ty /manipulabi l i ty measure and i l lustrate the solut ion f o r part icular hand /eye configwratzons.