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A Stability Study on Visual Servoing using Dynamic Calibration  

김진대 (영남대학교 대학원 기계공학과)
조영식 (영남대학교 대학원 기계공학과)
이상화 (영남대학교 대학원 기계공학과)
이재원 (영남대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.20, no.10, 2003 , pp. 82-88 More about this Journal
Abstract
Many visual servoing algorithms have been recently developed by the robot vision researchers. They do not, however, consider the stability of servoing system. The camera calibration is the most important factor to the control stability and performance of position based visual servoing. In this article we describe the ECL(End Point Closed Loop) servoing can make no steady state error for the control of 6-DOF robot of which accuracy is dependent on the camera calibration and kinematics. And we propose a dynamic calibration algorithm, which can improve stability and performance of ECL visual servoing. To verify the potential of our approach, we run assembly experiments and present our finding.
Keywords
Position Based Visual Servoing; Camera Calibration; ECL; Stability and Performance; Dynamic Calibration;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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