Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
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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)
  • Received : 2012.01.20
  • Accepted : 2012.12.10
  • Published : 2013.03.01
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Abstract

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.

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References

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