Adaptive visual servoing in the presence of intrinsic calibration uncertainty

被引：7

作者：

Chen, J ^{[1
]}

Behal, A ^{[1
]}

Dawson, DM ^{[1
]}

Dixon, WE ^{[1
]}

机构：

[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

来源：

42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS | 2003年

关键词：

D O I：

10.1109/CDC.2003.1272495

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：5396 / 5401

页数：6

共 19 条

[1]

[Anonymous], 1989, ROBOT DYNAMIC CONTRO

[2] Factors affecting the adoption of open systems: An exploratory study [J].

Chau, PYK ;

Tam, KY .

MIS QUARTERLY, 1997, 21 (01) :1-24

[3]

Chaumette F., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P630, DOI 10.1109/ROBOT.2000.844123

[4]

Chen J, 2003, P AMER CONTR CONF, P3442

[5] Nonlinear controllability and stability analysis of adaptive image-based systems [J].

Conticelli, F ;

Allotta, B .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17 (02) :208-214

[6]

Corke PI, 2000, IEEE DECIS CONTR P, P2521, DOI 10.1109/CDC.2000.914182

[7]

Deguchi K, 1998, 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3, P705, DOI 10.1109/IROS.1998.727274

[8]

Fang Y, 2002, IEEE DECIS CONTR P, P2860, DOI 10.1109/CDC.2002.1184282

[9]

Fang Y, 2003, P AMER CONTR CONF, P3311

[10]

FAUGERAS O, 2001, 3 DIMENSIONAL COMPUT

← 1 2 →