Abstract
This paper presents a new adaptive controller for dynamic image-based visual servoing of a robot manipulator when the camera intrinsic and extrinsic parameters and robot physical are not calibrated. To cope with nonlinear dependence of the image Jacobian on the unknown parameters, this controller employs depth-independent image Jacobian which does not depend on the scale factors determined by the depths of feature points. By removing the scale factors, the camera and robot parameters appear linearly in the close-loop dynamics so that a new algorithm is developed to estimate these parameters on-line. Lyapunov theory is employed to prove asymptotic convergence of the image errors based on the robot dynamics. Simulations have been conducted to demonstrate the performance of the proposed controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Hutchinson, S., Hager, G.D., Corke, P.I.: A tutorial on visual servo control. IEEE Tran. Robotics and Automation 12, 651–670 (1996)
Hosada, K., Asada, M.: Versatile Visual Servoing without knowledge of True Jacobain. In: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 186–191 (1994)
Hu, G., MacKunis, W., Gans, N., Dixon, W.E., Chen, J., Behal, A., Dawson, D.: Homography-Based Visual Servo Control with Imperfect Camera Calibration. IEEE Trans. Automatic Control 54, 1318–1324 (2009)
Fang, Y., Dixon, W., Dawson, D., Chawda, P.: Homography-based visual servo regulation of mobile robots. IEEE Trans. Syst., Man Cybern. 35, 1041–1050 (2005)
Gans, N.R., Hutchinson, S.A.: Stable Visual Servoing Through Hybrid Switched-System Control. IEEE Trans. Robotics 23, 530–540 (2007)
Kelly, R., Carelli, R., Nasisi, O., Kuchen, B., Reyes, F.: Stable Visual Servoing of Camera-in-Hand Robotic Systems. IEEE/ASME Trans. Mechatronics 5, 39–48 (2000)
Cheah, C.C., Hou, S.P., Zhao, Y., Slotine, J.-.J.E.: Adaptive Vision and Force Tracking Control for Robots With Constraint Uncertainty. IEEE/ASME Trans. Mechatronics 15, 389–399 (2010)
Liu, Y.H., Wang, H., Wang, C., Lam, K.: Uncalibrated Visual Servoing of Robots Using a Depth-Independent Image Jacobian Matrix. IEEE Trans. Robotics 22, 804–817 (2006)
Wang, H., Liu, Y.H., Zhou, D.: Dynamic Visual Tracking for Manipulators Using An Uncalibrated Fixed Camera. IEEE Trans. Robotics 23, 610–617 (2007)
Wang, H., Liu, Y.H., Zhou, D.: Adaptive Visual Servoing Using Point and Line Features with An Uncalibrated Eye-in-hand Camera. IEEE Tran. Robotics 24, 843–857 (2008)
Wang, H., Liu, Y.H.: A New Approach to Dynamic Eye-in-hand Visual Tracking Using Nonlinear Observers. IEEE/ASME Trans. Mechatronics 15 (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wang, H., Jiang, M., Chen, W., Liu, Yh. (2010). Adaptive Visual Servoing with Imperfect Camera and Robot Parameters. In: Li, K., Li, X., Ma, S., Irwin, G.W. (eds) Life System Modeling and Intelligent Computing. ICSEE LSMS 2010 2010. Communications in Computer and Information Science, vol 97. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15853-7_16
Download citation
DOI: https://doi.org/10.1007/978-3-642-15853-7_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-15852-0
Online ISBN: 978-3-642-15853-7
eBook Packages: Computer ScienceComputer Science (R0)