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Robust Jacobian matrix estimation for image-based visual servoing
| Content Provider | Semantic Scholar |
|---|---|
| Author | Kosmopoulos, Dimitrios I. |
| Copyright Year | 2011 |
| Abstract | A method for local estimation through training of the feature Jacobian for uncalibrated closed-loop robot manipulator control is presented, which can handle non-Gaussian outliers due to illumination changes. This is achieved through the employment of a robust estimator. The method is experimentally validated through a sunroof fitting robot in a closed-loop control scheme. |
| Starting Page | 82 |
| Ending Page | 87 |
| Page Count | 6 |
| File Format | PDF HTM / HTML |
| DOI | 10.1016/j.rcim.2010.06.013 |
| Volume Number | 27 |
| Alternate Webpage(s) | http://www.iit.demokritos.gr/~dkosmo/downloads/robvis/robcim10/robustJacobian.pdf |
| Alternate Webpage(s) | http://www.research.cs.rutgers.edu/~dk598/downloads/robvis/robcim10/robustJacobian.pdf |
| Alternate Webpage(s) | http://www.research.rutgers.edu/~dk598/downloads/robvis/robcim10/robustJacobian.pdf |
| Alternate Webpage(s) | https://doi.org/10.1016/j.rcim.2010.06.013 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |