NDLI: Uncalibrated dynamic eye-in-hand visual tracking of robots by observing unknown static objects

Content Provider	IEEE Xplore Digital Library
Author	Xinwu Liang Hesheng Wang Weidong Chen
Copyright Year	2012
Description	Author affiliation: Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China (Xinwu Liang; Hesheng Wang; Weidong Chen)
Abstract	Uncalibrated visual servoing techniques based on the depth-independent interaction matrix framework have been proposed for the general 3D motion control of robot manipulators, which can simultaneously handle both the unknown intrinsic and extrinsic camera parameters. By extending the existing adaptive eye-in-hand visual servoing approach based on the depth-independent interaction matrix, in this paper, we propose an uncalibrated dynamic visual tracking approach for the eye-in-hand camera configuration by observing multiple feature points of a static object. The proposed approach can simultaneously handle the unknown camera parameters and the unknown 3D coordinates of the feature points, where a new adaptive law is developed to estimate these unknown parameters online. On the basis of nonlinear dynamics of robot manipulators, we also prove the asymptotic convergence of the image errors with the help of Lyapunov theory. To demonstrate the performance of the proposed approach, preliminary simulation results will be given by using a two-link planar robot manipulator.
Starting Page	5162
Ending Page	5167
File Size	272721
Page Count	6
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Visualization Robot kinematics Robot vision systems Cameras Manipulators Adaptive visual tracking Vectors uncalibrated camera unknown static objects depth-independent interaction matrix
Content Type	Text
Resource Type	Article

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