Title :
Homography-Based Visual Servo Control With Imperfect Camera Calibration
Author :
Hu, G. ; MacKunis, W. ; Gans, N. ; Dixon, W.E. ; Chen, J. ; Behal, A. ; Dawson, D.
Author_Institution :
Dept. of Mech. & Nucl. Eng., Kansas State Univ., Manhattan, KS
fDate :
6/1/2009 12:00:00 AM
Abstract :
In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and intrinsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller.
Keywords :
Lyapunov methods; adaptive control; asymptotic stability; calibration; cameras; end effectors; robust control; visual servoing; Lyapunov-based analysis; adaptive controller; asymptotic regulation; asymptotic stability; high-gain robust controller; homography-based visual servo control; imperfect camera calibration; robot end-effector; robust adaptive uncalibrated visual servo controller; Adaptive control; Calibration; Cameras; Error correction; Programmable control; Robot vision systems; Robust control; Servomechanisms; Servosystems; Stability analysis; Lyapunov methods; quaternion representation; robust adaptive control; uncertain systems; visual servo control;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2015541
