Title :
Uncalibrated dynamic visual servoing
Author :
Piepmeier, J.A. ; McMurray, G.V. ; Lipkin, H.
Author_Institution :
Syst. Eng. Dept., U.S. Naval Acad., Annapolis, MD, USA
Abstract :
A dynamic quasi-Newton method for uncalibrated, vision-guided robotic tracking control with fixed imaging is developed and demonstrated. This method does not require calibrated kinematic and camera models. Robotic control is achieved at each step through minimizing a nonlinear objective function, by taking quasi-Newton steps and estimating the composite Jacobian at each step. The Jacobian is estimated using a dynamic recursive least-squares algorithm. Experimental results demonstrate the validity of this approach.
Keywords :
Jacobian matrices; Newton method; least squares approximations; recursive functions; robot kinematics; robot vision; servomechanisms; target tracking; composite Jacobian; dynamic nonlinear least squares; dynamic quasi-Newton method; dynamic recursive least-squares algorithm; fixed imaging; moving target scenario; nonlinear objective function; robot kinematics; uncalibrated dynamic visual servoing; unknown imaging models; vision-guided robotic tracking control; Cameras; Jacobian matrices; Least squares approximation; Nonlinear dynamical systems; Optimization methods; Recursive estimation; Robot control; Robot vision systems; Target tracking; Visual servoing;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.820923
