Uncalibrated Eye-in-Hand Visual Servoing  

Oleh:

Piepmeier, Jenelle Armstrong ; Lipkin, Harvey

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 22 no. 10-11 (Oct. 2003), page 805-819.
Topik: uncalibrated eye-in-hand visual servoing; nonlinear least squares; Jacobian estimation
Fulltext: 805.pdf (405.43KB)

Isi artikel

In this paper we present newuncalibrated control schemes for visionguided 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.

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