NDLI: Uncalibrated Visual Servo control with multi-constraint satisfaction

Content Provider	IEEE Xplore Digital Library
Author	Umer Khan, M. Jan, I. Ahmed, A. Ajmal Azad, M. Iqbal, N.
Copyright Year	2011
Description	Author affiliation: Electrical Engineering Department, Pakistan Institute of Engineering and Applied Sciences, Islamabad, Pakistan (Umer Khan, M.; Jan, I.; Ahmed, A.; Iqbal, N.) \|\| Department of Electrical Engineering, University of Porto, Portugal (Ajmal Azad, M.)
Abstract	This paper devises a new multicriteria image-based controller for the control of six degrees of freedom (PUMA560) robotic arm, based upon Linear Matrix Inequality (LMI). The aim lies in developing such a method that neither involves camera calibration parameters nor inverse kinematics. The approach adopted in this paper includes transpose Jacobian control; thus, inverse of the Jacobian matrix is no longer required. The proposed controller allows stabilizing the camera despite the unknown value of the target point depth. To make sure that the features remain in the camera field of view, and to restrict the controller's input using some bounds, visibility and kinematic constraints are introduced in the form of LMIs. By invoking the Lyapunov's direct method, closed-loop stability of the system is ensured. Simulation results are shown for three different cases, which exhibit the system stability and convergence even in the presence of large errors, and present the comparative analysis of both i.e., systems with and without visibility and kinematic constraints.
Starting Page	6318
Ending Page	6323
File Size	280841
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979874
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Robot vision systems Equations Manipulators Jacobian matrices Joints
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in