Title:
Uncalibrated Eye-in-Hand Visual Servoing
Uncalibrated Eye-in-Hand Visual Servoing
Authors
Piepmeier, Jenelle Armstrong
Gumpert, Ben A.
Lipkin, Harvey
Gumpert, Ben A.
Lipkin, Harvey
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Abstract
This paper presents uncalibrated control schemes
for vision-guided robotic tracking 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 and maintain
the desired features. 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.
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Date Issued
2002-05
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