A hybrid Jacobian control for uncalibrated robot visual servoing
| Autor: | Teo Chee-Leong, Zhang Qi-zhi, Lim Siak-Piang, Ge Xinsheng |
|---|---|
| Rok vydání: | 2005 |
| Předmět: |
Computer science
business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Servo control Kinematics Visual servoing Robot control Computer Science::Robotics symbols.namesake Control theory Jacobian matrix and determinant symbols General Materials Science Computer vision Artificial intelligence business Robotic arm ComputingMethodologies_COMPUTERGRAPHICS Camera resectioning |
| Zdroj: | Progress in Natural Science. 15:564-568 |
| ISSN: | 1002-0071 |
| DOI: | 10.1080/10020070512331342560 |
| Popis: | This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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