A New Approach to Dynamic Eye-in-Hand Visual Tracking Using Nonlinear Observers

Author

Wang, Hesheng ; Liu, Yun-Hui ; Chen, Weidong ; Wang, Zhongli

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

Volume

16

Issue

2

fYear

2011

fDate

4/1/2011 12:00:00 AM

Firstpage

387

Lastpage

394

Abstract

This paper presents a new controller for locking a moving object in 3-D space at a particular position (for example, the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both the highly nonlinear robot dynamics and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly in the closed-loop dynamics of the system if the depth-independent image Jacobian is used, we developed a nonlinear observer to estimate the 3-D motion of the object online. With a full consideration of dynamic responses of the robot manipulator, we employ the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are used to demonstrate the performance of the proposed approach.

Keywords

Jacobian matrices; Lyapunov methods; control system synthesis; convergence; manipulator dynamics; mobile robots; motion control; observers; path planning; robot vision; visual servoing; 3-D motion; Lyapunov method; asymptotic convergence; camera; closed-loop system dynamics; depth-independent image Jacobian; dynamic eye-in-hand visual tracking; moving object locking controller; nonlinear observers; nonlinear robot dynamics; robot manipulator; Eye-in-hand; nonlinear observer; visual tracking;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2009.2039941

Filename

5415576