A new visual servo scheme without calibration

Author

Qingsheng, Kang ; Zhengda, Meng ; Xianzhong, Dai

Author_Institution

Dept. of Autom. Control, Southeast Univ., Nanjing, China

Volume

4

fYear

2005

fDate

29 July-1 Aug. 2005

Firstpage

2134

Abstract

This paper illustrates the structure of the uncalibrated discrete dynamic look-and-move visual servo system and proposes a new visual servo scheme without calibration for static image target, which estimates the pseudo-inverse matrix of image Jacobian on-line with the help of recursive least square algorithm. The convergence condition of this scheme for proportional controller is proved by Lyapunov stability theory in this paper. In the end, the simulation results are presented to demonstrate the performances of the proposed scheme.

Keywords

Jacobian matrices; Lyapunov methods; calibration; discrete systems; image motion analysis; least squares approximations; recursive estimation; robots; Lyapunov stability theory; calibration; image Jacobian online; proportional controller; pseudoinverse matrix; recursive least square algorithm; static image target; visual servo scheme; visual servo system; Calibration; Convergence; Jacobian matrices; Least squares approximation; Orbital robotics; Recursive estimation; Robot vision systems; Servomechanisms; Transmission line matrix methods; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626893

Filename

1626893