Robust and uncalibrated visual servoing without Jacobian using a simplex method

被引：0
|
作者：
Miura, K [1 ]
Gangloff, JA [1 ]
de Mathelin, MF [1 ]
机构：
[1] Univ Strasbourg 1, LSIIT, UMR CNRS 7005, Illkirch Graffenstaden, France
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
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 and the kinematic model of the robot may be totally unknown. The displacements of the robot are generated in real time in order to minimize an objective function. The objective function includes the quadratic error between the current target image and the desired target image. A simplex method is used to minimize the objective function. Our method allows to include constraints in the image as well as in joint-space. We successfully validate this method, with simulations under the graphic library OpenGL, and with experiments on a 6 DOF industrial manipulator.
引用
收藏
页码：311 / 316
页数：6
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