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

fYear

2008

fDate

11-13 June 2008

Firstpage

4791

Lastpage

4796

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2008

Conference_Location

Seattle, WA

ISSN

0743-1619

Print_ISBN

978-1-4244-2078-0

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2008.4587252

Filename

4587252