Title :
Homography-based visual servo control via an uncalibrated camera
Author :
Hu, G. ; MacKunis, W. ; Gans, N. ; Dixon, W.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL
Abstract :
A robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end- effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and intrinsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; end effectors; image sensors; robust control; visual servoing; Lyapunov-based analysis; asymptotic stability; homography-based visual servo control; robot end-effector; robust adaptive uncalibrated visual servo controller; uncalibrated camera; Adaptive control; Calibration; Cameras; Error correction; Programmable control; Robot vision systems; Robust control; Servomechanisms; Servosystems; Stability analysis;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4587252
