DOI QR코드

DOI QR Code

Uncalibrated Visual Servoing through the Efficient Estimation of the Image Jacobian for Large Residual

  • Kim, Gon-Woo (School of Electronics Engineering, Chung buk National University)
  • 투고 : 2012.01.20
  • 심사 : 2012.12.10
  • 발행 : 2013.03.01

초록

An uncalibrated visual servo control method for tracking a target is presented. We define the robot-positioning problem as an unconstrained optimization problem to minimize the image error between the target feature and the robot end-effector feature. We propose a method to find the residual term for more precise modeling using the secant approximation method. The composite image Jacobian is estimated by the proper method for eye-to-hand configuration without knowledge of the kinematic structure, imaging geometry and intrinsic parameter of camera. This method is independent of the motion of a target feature. The algorithm for regulation of the joint velocity for safety and stability is presented using the cost function. Adaptive regulation for visibility constraints is proposed using the adaptive parameter.

키워드

참고문헌

  1. A. C. Sanderson, and L. E. Weiss, "Image-based visual servo control using relational graph error signals," in Proc. IEEE, pp. 1074-1077, 1980.
  2. A. C. Sanderson, L. E. Weiss, and C. P. Neuman, "Dynamic sensor-based control of robots with visual feedback," IEEE Trans. Robot. Automat., Vol. RA-3, pp. 404-417, Oct. 1987.
  3. H. Sutanto, R. Sharma, and V. Varma, "Image based autodocking without calibration," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 974-979, 1997.
  4. K. Hosoda, and M. Asada, "Versatile visual servoing without knowledge of true Jacobian," in Proc. IEEE/ RSJ/GI Int. Conf. Intelligent Robots and Systems, pp. 186-193, 1994.
  5. J. A. Piepmeier, G. V. McMurray, and H. Lipkin, "Tracking a moving target with model independent visual servoing : a predictive estimation approach," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 2652-2657, 1998.
  6. J. A. Piepmeier, G. V. McMurray, and H. Lipkin, "A dynamic Jacobian estimation method for uncalibrated visual servoing," in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, pp. 944-949, 1999.
  7. G. W. Kim, and B. H. Lee, "Efficient regulation of joint velocity in uncalibrated visual servoing," in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, pp. 993-998, 2003.
  8. M. Jagersand, O. Fuentes, and R. Nelson, "Experimental evaluation of uncalibrated visual servoing for precision manipulation," in Proc. IEEE Int. Conf. Robot. Automat., pp. 2874-2880, 1997.
  9. J. A. Piepmeier, G. V. McMurray, and H. Lipkin, "A dynamic quasi- Newton method for uncalibrated visual servoing," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 1595-1600, 1999.
  10. M. Asada, T. Tanaka, and K. Hosoda, "Adaptive binocular visual servoing for independently moving target tracking," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 2076-2081, 1997.
  11. G. W. Kim, B. H. Lee, and M. S. Kim, "Uncalibrated visual servoing technique using large residual," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 3315-3320, 2003.
  12. E. Marchand, F. Chaumette, and A. Rizzo, "Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 1083-1090, 1996.
  13. F. Chaumette, and E. Marchand, "A new redundancybased iterative scheme for avoiding joint limits: application to visual servoing," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 1720-1725, 2000.
  14. A. Shademan, A. Farahmand, and M. Jagersand, "Robust Jacobian Estimation for Uncalibrated Visual Servoing," in Proc. IEEE Int. Conf. Robotics and Automation, pp. 5564-5569, 2010.
  15. H. Wang, Y.-H. Liu, and D. Zhou, "Adaptive visual servoing using point and line features with an uncalibrated eye-in-hand camera," IEEE Trans. Robot., Vol. 24, no. 4, pp. 843-857, Aug. 2008. https://doi.org/10.1109/TRO.2008.2001356

피인용 문헌

  1. Comparison of Uncalibrated Model-Free Visual Servoing Methods for Small-Amplitude Movements: A Simulation Study vol.11, pp.7, 2014, https://doi.org/10.5772/58822
  2. Automatic Manipulation of Tie Rod using Robot with 3D Sensing System vol.9, pp.6, 2014, https://doi.org/10.5370/JEET.2014.9.6.2162