Title :
Control uncertainty in image-based visual servoing
Author_Institution :
Lab. of Inf. Process., Lappeenranta Univ. of Technol., Lappeenranta, Finland
Abstract :
It has recently been demonstrated that the effect of visual measurement errors on the open-loop control in visual servoing can be estimated using linear propagation of errors. The uncertainty estimation offers a tool to build and analyze hybrid control systems such as switching or partitioning control. In earlier works, position-based and 2.5D servoing have been analysed. This work extends the approach to the analysis of closed loop uncertainty, showing how the path uncertainty can be approximated. The uncertainty is analyzed in Cartesian reference to make the approach general over different hardware. In addition, we show how image-based visual servoing can be analysed using the same approach.
Keywords :
open loop systems; pose estimation; robot vision; uncertain systems; visual servoing; Cartesian reference; control path uncertainty estimation; hybrid control system; image-based visual servoing; linear error propagation; open-loop control; partitioning control; pose estimation; position-based control; robotic system control; switching control; visual measurement error; Control system analysis; Control systems; Error correction; Estimation error; Hardware; Image analysis; Measurement errors; Open loop systems; Uncertainty; Visual servoing;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152626