Uncalibrated dynamic visual servoing

被引：157

作者：

Piepmeier, JA ^{[1
]}

McMurray, GV

Lipkin, H

机构：

[1] USN Acad, Dept Syst Engn, Annapolis, MD 21402 USA

[2] Georgia Tech Res Inst, Atlanta, GA 30318 USA

[3] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 01期

关键词：

dynamic nonlinear least squares; Jacobian estimation; uncalibrated visual servoing;

D O I：

10.1109/TRA.2003.820923

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A dynamic quasi-Newton method for uncalibrated, vision-guided robotic tracking control with fixed imaging is developed and demonstrated. This method does not require calibrated kinematic and camera models. Robotic control is achieved at each step through minimizing a non-linear objective function, by taking quasi-Newton steps and estimating the composite Jacobian at each step. The Jacobian is estimated using a dynamic recursive least-square's algorithm. Experimental results demonstrate the validity of this approach.

引用

页码：143 / 147

页数：5

共 14 条

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