Robust 2.5D visual servoing for robot manipulators

Author

Fang, Y. ; Dixon, W.E. ; Dawson, D.M. ; Chen, J.

Author_Institution

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

Volume

4

fYear

2003

fDate

4-6 June 2003

Firstpage

3311

Abstract

In this paper, the 3-dimensional (3D) position and orientation of a camera held by the end-effector of a robot manipulator is regulated to a constant desired position and orientation despite (i) the lack of depth information of the actual or desired camera position from a target, (ii) the lack of a geometric model of the target object, and (iii) uncertainty regarding both the angle and axis of rotation of the camera with respect to the robot end-effector (i.e., the orientation extrinsic camera parameters). By fusing 2D image-space and projected 3D task-space information (i.e., 2.5D visual servoing), a robust controller is developed that ensures exponential regulation of the position and orientation of the camera. The stability of the controller is proven through a Lyapunov-based analysis.

Keywords

Lyapunov methods; cameras; control system synthesis; end effectors; position control; robot vision; stability; 2.5D visual servoing; 2D image-space; 3D orientation; 3D position; 3D task-space information; Lyapunov-based analysis; camera angle; camera orientation regulation; camera position; camera position regulation; controller stability; geometric model; orientation extrinsic camera parameter; robot end-effector; robot manipulator; rotation axis; Biosensors; Cameras; Control systems; Manipulators; Robot sensing systems; Robot vision systems; Robust control; Robustness; Uncertainty; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1244042

Filename

1244042