Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250633
