Exponentially stable positioning of a rigid robot using stereo vision

被引：0

作者：

Chang, WC ^{[1
]}

Morse, AS ^{[1
]}

机构：

[1] Natl Dong Hwa Univ, Inst Elect Engn, Shoufeng 974, Hualien, Taiwan

来源：

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article addresses the visual servoing of a rigid robotic manipulator under fixed camera configurations. The control goal is to move the robot end-effector to a visually determined target position by using a vision system equipped with two fixed cameras. A general image-based controller is proposed to achieve "precise" positioning in, the absence of measurement noise. Based on the "epipolar constraint" [1], we have shown that the overall closed-loop system, using redundant image features, is exponentially stable provided that camera model imprecision is small.

引用

页码：605 / 610

页数：6

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