Title :
Adaptive visual servoing in the presence of intrinsic calibration uncertainty
Author :
Chen, J. ; Behal, A. ; Dawson, D.M. ; Dixon, Warren E.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback (of points located on a fixed reference frame) from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.
Keywords :
Lyapunov methods; adaptive control; cameras; control system synthesis; end effectors; feedback; manipulator kinematics; position control; robot vision; Lyapunov method; adaptive kinematic controller design; adaptive visual servoing; asymptotic regulation; camera intrinsic parameter matrix; depth measurement; intrinsic calibration; robot end effector; visual feedback; Adaptive control; Calibration; Cameras; Kinematics; Programmable control; Robots; Robust control; Servomechanisms; Uncertainty; Visual servoing;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272495
