Visual servoing without Jacobian using modified simplex optimization

被引：0
|
作者：
Miura, K [1 ]
Hashimoto, K [1 ]
Gangloff, J [1 ]
de Mathelin, M [1 ]
机构：
[1] Tohoku Univ, Grad Sch Informat Sci, Sendai, Miyagi 9808579, Japan
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
visual servoing; optimization; uncalibrated visual servoing; model-less visual servoing;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated. The displacements of the robot are generated in real time in order to minimize an objective function using a simplex method and a Newton-like method. Our method allows for the inclusion of constraints in the image as well as in jointspace. On-line image Jacobian estimation runs at the same time, and is used to accelerate convergence near the target. We successfully validate this method with simulations under the graphic library OpenGL, and practical experiment with industrial manipulators.
引用
收藏
页码：3504 / 3509
页数：6
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