Experimental results for uncalibrated eye-in-hand visual servoing

被引：6
|
作者：
Piepmeier, JA [1 ]
机构：
[1] USN Acad, Annapolis, MD 21402 USA
来源：
PROCEEDINGS OF THE 35TH SOUTHEASTERN SYMPOSIUM ON SYSTEM THEORY | 2003年
关键词：
D O I：
10.1109/SSST.2003.1194586
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 investigates uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are tested.
引用
收藏
页码：335 / 339
页数：5
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