Title :
A “robust” convergent visual servoing system
Author :
Kim, D. ; Rizzi, A.A. ; Hager, G.D. ; Zoditschek, D.E.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
Abstract :
This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper´s spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments
Keywords :
Newton method; position control; robot vision; robust control; servomechanisms; stereo image processing; Newton method; camera calibration errors; convergent visual servoing system; end effector positioning; gradient descent method; manipulators; robot vision; robustness; stereo vision system; Calibration; Cameras; Computer vision; Control systems; End effectors; Robot vision systems; Robust control; Robustness; Stereo vision; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525819
