Adaptive homography-based visual servo tracking

Author

Chen, J. ; Dawson, D.M. ; Dixon, W.E. ; Behal, A.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

1

fYear

2003

fDate

27-31 Oct. 2003

Firstpage

230

Abstract

In this paper, a homography-based adaptive visual servo controller is described to enable a robot end-effector to track a desired Euclidean space trajectory as determined by a sequence of images for the fixed camera configuration. To achieve the objective, a Lyapunov-based adaptive control strategy is employed to actively compensate for unknown depth measurements and the lack of an object model. The error systems are constructed as a hybrid of pixel information and reconstructed Euclidean variables obtained by comparing the images and decomposing a homographic relationship.

Keywords

Lyapunov methods; adaptive control; end effectors; motion compensation; robot vision; servomechanisms; tracking; Euclidean space trajectory; Lyapunov-based adaptive control strategy; adaptive visual servo controller; camera configuration; depth measurements; error systems; homography-based visual servo tracking; reconstructed Euclidean variables; robot end-effector; Acoustic sensors; Adaptive control; Cameras; Image reconstruction; Image sensors; Kinematics; Orbital robotics; Programmable control; Sensor fusion; Servomechanisms;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on

Print_ISBN

0-7803-7860-1

Type

conf

DOI

10.1109/IROS.2003.1250633

Filename

1250633