Abstract
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 language | English |
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Title of host publication | IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems |
Publisher | IEEE |
Pages | 755-760 |
Number of pages | 6 |
ISBN (Electronic) | 9781479969340 |
DOIs | |
Publication status | Published - 1 Jan 2014 |
Externally published | Yes |
Event | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Palmer House Hilton Hotel, Chicago, United States Duration: 14 Sept 2014 → 18 Sept 2014 |
Conference
Conference | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 |
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Country/Territory | United States |
City | Chicago |
Period | 14/09/14 → 18/09/14 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications