2.5D visual servoing with a fixed camera

Author

Chen, J. ; Behal, A. ; Dawson, D. ; Fang, Y.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

4

fYear

2003

fDate

4-6 June 2003

Firstpage

3442

Abstract

In this paper, we investigate the translational and rotational motion of the end-effector of a robot under visual feedback from a fixed camera. We achieve an exponential stability result for the regulation of the end-effector to a desired location and orientation. Specifically, by utilizing visual information from one fixed camera, we capture the motion of 4 points located in a fictitious plane attached to the end-effector in Cartesian space. By assuming knowledge of the camera intrinsic parameters, we obtain the rotational motion of the end-effector through a homography decomposition while utilizing the pixel motion of one of the four points to obtain the translation information. The stability of the controller is proven through a Lyapunov-based stability analysis.

Keywords

Lyapunov methods; asymptotic stability; cameras; end effectors; image sensors; motion control; robot vision; 2.5D visual servoing; Cartesian space; Lyapunov-based stability analysis; camera intrinsic parameter; controller stability; end-effector; exponential stability; fixed camera; homography decomposition; pixel motion; robot; rotational motion; translational motion; visual feedback; Cameras; Error correction; Feedback; Robot kinematics; Robot sensing systems; Robot vision systems; Robust control; Robust stability; Stability analysis; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2003. Proceedings of the 2003

ISSN

0743-1619

Print_ISBN

0-7803-7896-2

Type

conf

DOI

10.1109/ACC.2003.1244064

Filename

1244064