Lyapunov-stable eye-in-hand kinematic visual servoing with unstructured static feature points

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1 Citation (Scopus)


In this paper, we address the visual servoing problem of robot manipulators with eye-in-hand cameras. To servo-control the image position of a feature point, traditional image-based controllers require the computation of the point's position vector with respect to the camera's frame. However, when the point's location is uncertain, the stability of traditional visual servoing controllers can not be rigorously guaranteed. To contribute to this problem, in this paper we present two new kinematic image-based controllers that do not require the exact location of static features. The first controller is a depth-free method that uses the camera's calibration matrix and visual feedback to compute a quasi-position vector of the feature point. The second controller uses adaptive control techniques to iteratively estimate the calibration matrix and the point's position vector. We prove the stability of both servo-controllers using Lyapunov theory, and present experimental results to evaluate its performance.
Original languageEnglish
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages6
ISBN (Electronic)9781479969340
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Palmer House Hilton Hotel, Chicago, United States
Duration: 14 Sep 201418 Sep 2014


Conference2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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