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An alternative approach for image-plane control of robots

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The confluence of vision and control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 237))

Abstract

The article distinguishes between camera-space manipulation and visual servoing; it identifies application categories which particularly favor the former. Using a 2-dimensional, 2-degree-of-freedom example, a point of convergence between the two methods is identified. This is based upon an extension of visual servoing wherewith a Kalman Filter is used to estimate the ongoing visual-error signal from discrete-time, noisy, delayed and possibly intermittent visual input combined with continuous joint-rotation input. A working, nonholonomic, vision-based control system which applies a similar estimation strategy is introduced in order to illustrate and make plausible this extension, and to clarify the comparison. The comparison is discussed in terms of advantages/disadvantages accrued in the restoration of the two methods to their usual forms from their respective extensions or modifications as required to produce convergence.

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Authors and Affiliations

  1. Department of Aerospace and Mechanical Engineering Fitzpatrick Hall of Engineering, University of Notre Dame, 46556-5637, Notre Dame, Indiana, USA

    Michael Seelinger, Steven B. Skaar & Matthew Robinson

Authors
  1. Michael Seelinger
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  2. Steven B. Skaar
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  3. Matthew Robinson
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Editor information

David J. Kriegman PhD Gregory D. Hager PhD A. Stephen Morse PhD

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© 1998 Springer-Verlag

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Seelinger, M., Skaar, S.B., Robinson, M. (1998). An alternative approach for image-plane control of robots. In: Kriegman, D.J., Hager, G.D., Morse, A.S. (eds) The confluence of vision and control. Lecture Notes in Control and Information Sciences, vol 237. Springer, London. https://doi.org/10.1007/BFb0109662

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  • DOI: https://doi.org/10.1007/BFb0109662

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-025-5

  • Online ISBN: 978-1-84628-528-8

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