Optimization design for visual servoing in eye-in-hand robotics

被引：0

作者：

Jin mei ^{[1
]}

Li hui guang ^{[1
]}

机构：

[1] Yanshan Univ, Key Lab Ind Comp Control Engn Hebei Prov, Qinhuangdao 066004, Peoples R China

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6 | 2008年

关键词：

eye-in-hand; visual servoing; GMC; optimization controller; depth estimation;

D O I：

10.1109/ICAL.2008.4636503

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an attractive image-based visual servoing approach for eye-in-hand robotic systems. The major contribution of this work is in devising an optimization controller to control the velocity of the camera and GMC (generic model control) is introduced to confirm the output trajectory of the system. Then an adaptive law is proposed to estimate the unknown depth of the feature points of the selected object. The asymptotic convergence of the image errors to zero is proved by the Lyapunov theory. The simulation results are presented for 6 degrees of freedom (DOF) eye-in-hand system, which clearly show the validity of the proposed approach.

引用

页码：2064 / 2068

页数：5

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