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Image-based Control of Robot and Target Object Motions by Eigen Space Method

This paper deals with the image-based control to move a robot-arm mounting a camera to the position where the given goal image was taken and, at the same time, target objects to the same positions as they were in the goal image. Their motions are determined to reduce the difference between the goal image and the image taken at their current positions. We use the "eigen-space method" to obtain a compact representation of the image. To relate the image difference to the robot-arm and target object motions, we re-arrange the eigen space so that the representation linearly depends on the robot-arm and target object motions. We describe this approach in detail and experiments using real robots and images.