Title :
Versatile visual servoing without knowledge of true Jacobian
Author :
Hosoda, Koh ; Asada, Minoru
Author_Institution :
Dept. of Mech. Eng. for Comput.-Controlled Machinery, Osaka Univ., Japan
Abstract :
Proposes a versatile visual servoing control scheme with a Jacobian matrix estimator. The Jacobian matrix estimator does not need a priori knowledge of the kinematic structure and parameters of the robot system, such as camera and link parameters. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories, by using the estimated Jacobian matrix, which is proved by the Lyapunov stability theory. To show the effectiveness of the proposed scheme, simulation and experimental results are presented
Keywords :
Jacobian matrices; Lyapunov methods; convergence; parameter estimation; robot vision; stability; Jacobian matrix estimator; Lyapunov stability theory; convergence; image-features; visual servoing; Cameras; Control systems; Convergence; Jacobian matrices; Kinematics; Lyapunov method; Parameter estimation; Robot sensing systems; Robot vision systems; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407392