期刊
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
卷 22, 期 10-11, 页码 805-819出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/027836490302210002
关键词
uncalibrated eye-in-hand visual servoing; nonlinear least squares; Jacobian estimation
类别
In this paper we present new uncalibrated control schemes for vision-guided robotic trucking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated and a variety of parameters are investigated with respect to performance. Simulation results suggest that a Gauss-Newton method utilizing a partitioned Broyden's method for model estimation provides the best steady-state tracking behavior.
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