DocumentCode
2532950
Title
Visual servoing of robot manipulator without camera calibration
Author
Cheah, C.C. ; Kawamura, S. ; Arimoto, S.
Author_Institution
Dept. of Robotics, Ritsumeikan Univ., Shiga, Japan
fYear
1998
fDate
29 Jun-1 Jul 1998
Firstpage
688
Lastpage
693
Abstract
In this paper, visual-based feedback control laws are proposed for setpoint control of robots without camera and kinematic calibrations. Sufficient conditions for the bounds of the calibration errors and stability conditions for the feedback gains are presented to guarantee the stability of the robots´ motion. Visual-based gravity regressor is also proposed for gravitational force compensation when the gravitational force is uncertain. Simulation results are presented to illustrate the performance of the proposed controllers
Keywords
compensation; feedback; manipulators; robot vision; stability criteria; calibration errors; feedback gains; gravitational force compensation; robot manipulator; stability conditions; visual servoing; visual-based feedback control laws; visual-based gravity regressor; Calibration; Cameras; Feedback control; Gravity; Kinematics; Manipulators; Robot control; Robot vision systems; Stability; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location
Coimbra
Print_ISBN
0-7803-4484-7
Type
conf
DOI
10.1109/AMC.1998.743638
Filename
743638
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