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
fDate :
29 Jun-1 Jul 1998
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;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743638
