Adaptive homography-based visual servo tracking

被引：0
|
作者：
Chen, J [1 ]
Dawson, DM [1 ]
Dixon, WE [1 ]
Behal, A [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
来源：
IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a homography-based adaptive visual servo controller is described to enable a robot end-effector to track a desired Euclidean space trajectory as determined by a sequence of images for the fixed camera configuration. To achieve the objective, a Lyapunov-based adaptive control strategy is employed to actively compensate for unknown depth measurements and the lack of an object model. The error systems are constructed as a hybrid of pixel information and reconstructed Euclidean variables obtained by comparing the images and decomposing a homographic relationship.
引用
收藏
页码：230 / 235
页数：6
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