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Uncalibrated Eye-in-Hand Visual Servoing.
- Source :
-
International Journal of Robotics Research . Oct/Nov2003, Vol. 22 Issue 10-11, p805-819. 15p. - Publication Year :
- 2003
-
Abstract
- In this paper we present new uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated and a variety of parameters are investigated with respect to performance. Simulation results suggest that a Gauss-Newton method utilizing a partitioned Broyden's method for model estimation provides the best steady-state tracking behavior. [ABSTRACT FROM AUTHOR]
- Subjects :
- *SERVOMECHANISMS
*TRAJECTORY optimization
*ROBOTICS
Subjects
Details
- Language :
- English
- ISSN :
- 02783649
- Volume :
- 22
- Issue :
- 10-11
- Database :
- Academic Search Index
- Journal :
- International Journal of Robotics Research
- Publication Type :
- Academic Journal
- Accession number :
- 11330188
- Full Text :
- https://doi.org/10.1177/027836490302210002