NDLI: Uncalibrated visual servoing of robots using a depth-independent interaction matrix

Content Provider	IEEE Xplore Digital Library
Author	Yun-Hui Liu Hesheng Wang Chengyou Wang Kin Kwan Lam
Copyright Year	2004
Abstract	This paper presents a new adaptive controller for image-based dynamic control of a robot manipulator using a fixed camera whose intrinsic and extrinsic parameters are not known. To map the visual signals onto the joints of the robot manipulator, this paper proposes a depth-independent interaction matrix, which differs from the traditional interaction matrix in that it does not depend on the depths of the feature points. Using the depth-independent interaction matrix makes the unknown camera parameters appear linearly in the closed-loop dynamics so that a new algorithm is developed to estimate their values on-line. This adaptive algorithm combines the Slotine-Li method with on-line minimization of the errors between the real and estimated projections of the feature points on the image plane. Based on the nonlinear robot dynamics, we prove asymptotic convergence of the image errors to zero by the Lyapunov theory. Experiments have been conducted to verify the performance of the proposed controller. The results demonstrated good convergence of the image errors
Sponsorship	IEEE Robotics and Automation Society
Starting Page	804
Ending Page	817
Page Count	14
File Size	1862985
File Format	PDF
ISSN	15523098
Volume Number	22
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Manipulator dynamics Robot vision systems Cameras Convergence Programmable control Adaptive control Robot control Adaptive algorithm Minimization methods visual servoing robot manipulator uncalibrated camera parameters
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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