Title :
Control of a rigid robot using an uncalibrated stereo vision system
Author :
Chang, Wen-Chung ; Morse, A.S.
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
A supervisor of the estimator-based type together with a certainty equivalence control is proposed for controlling the position of a rigid robot in a prescribed workspace using data observed by two uncalibrated video cameras. By exploiting a well known algebraic relationship from the computer vision field (the epipolar constraint), the supervisor is able to falsify or eliminate over time, unpromising candidate camera models
Keywords :
matrix algebra; position control; robot dynamics; robot vision; stereo image processing; coefficient matrix; computer vision; epipolar constraint; position control; rigid robot; stereo vision system; supervisory control; uncalibrated video cameras; Cameras; Computer vision; Control systems; Jacobian matrices; Linear systems; Orbital robotics; Robot kinematics; Robot vision systems; Stereo vision; Uncertainty;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611061
