Uncalibrated eye-in-hand visual servoing using Recursive Least Squares

被引：0
|
作者：
Hao, Miao [1 ]
Sun, Zengqi [2 ]
Fujii, Masakazu [3 ]
Song, Wei [4 ]
机构：
[1] Tsinghua Univ, Dept Comp Sci & Technol, State Key Lab Intelligent Technol & Syst, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Dept Comp Sci & Technol, Beijing 100084, Peoples R China
[3] Ishikawajima Harima Heavy Ind Co Ltd, Corp Res & Dev, Yokohama, Kanagawa 2358501, Japan
[4] Infosys Technol Co Ltd, Dept BCM, Shanghai 201203, Peoples R China
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-8 | 2007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：
In this paper, an uncalibrated dynamic visual servoing algorithm is proposed and analyzed. No calibration or robot model is needed. After a brief introduction of the development of uncalibrated visual servoing, the theoretical backgrounds and mathematical requirements of Recursive Least Square (RLS) are stated respectively. Then the core uncalibrated visual servoing algorithm, in RLS form, or more technically, VS-RLS as well as its performance analysis, is investigated. After that, the experimental 6DOF Puma560 simulation of static and moving target tracking is demonstrated. Finally the weak and strength of the algorithm as well as the potential and promising improvements are discussed.
引用
收藏
页码：1463 / +
页数：3
相关论文
共 50 条
  • [1] Uncalibrated Eye-in-hand Visual Servoing Using Adaptive Recursive Least Squares
    Hao, Miao
    Sun, Zengqi
    2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23, 2008, : 1021 - 1026
  • [2] Uncalibrated eye-in-hand visual servoing
    Piepmeier, JA
    Gumpert, BA
    Lipkin, H
    2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, : 568 - 573
  • [3] Uncalibrated eye-in-hand visual servoing
    Piepmeier, JA
    Lipkin, H
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2003, 22 (10-11): : 805 - 819
  • [4] Visual servoing with an uncalibrated eye-in-hand camera
    Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300071, China
    Proc. Chin. Control Conf., CCC, (3666-3672):
  • [5] Visual Servoing with an Uncalibrated Eye-in-Hand Camera
    Li Haifeng
    Liu Jingtai
    Li Yan
    Lu Xiang
    Sun Lei
    PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 3666 - 3672
  • [6] Uncalibrated eye-in-hand visual servoing: an LMI approach
    Khan, Umer
    Jan, Ibrar
    Iqbal, Naeem
    Dai, Jian
    INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, 2011, 38 (02) : 130 - 138
  • [7] Experimental results for uncalibrated eye-in-hand visual servoing
    Piepmeier, JA
    PROCEEDINGS OF THE 35TH SOUTHEASTERN SYMPOSIUM ON SYSTEM THEORY, 2003, : 335 - 339
  • [8] Dynamic visual servoing of robots using uncalibrated eye-in-hand visual feedback
    Wang, Hesheng
    Liu, Yun-Hui
    2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12, 2006, : 3797 - +
  • [9] Eye-In-Hand Uncalibrated Visual Servoing of Concentric Tube Robot
    Zhang, Kehe
    Yang, Xing
    Wang, Jie
    Song, Shuang
    Meng, Max Q. H.
    2020 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (IEEE-RCAR 2020), 2020, : 233 - 238
  • [10] Adaptive visual servoing of robot manipulators using uncalibrated eye-in-hand visual feedback
    Wang, Hesheng
    Liu, Yun-Hui
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 386 - +
12345