Homography-Based Visual Servo Control With Imperfect Camera Calibration

被引：78

作者：

Hu, G. ^{[1
]}

MacKunis, W. ^{[2
]}

Gans, N. ^{[2
]}

Dixon, W. E. ^{[2
]}

Chen, J. ^{[3
]}

Behal, A. ^{[4
]}

Dawson, D. ^{[5
]}

机构：

[1] Kansas State Univ, Dept Mech & Nucl Engn, Manhattan, KS 66506 USA

[2] Univ Florida, Dept Mech & Aerosp Engn, Gainesville, FL 32611 USA

[3] Univ Michigan, Dept Naval Architecture & Marine Engn, Ann Arbor, MI 48109 USA

[4] Univ Cent Florida, Dept Elect & Comp Engn, Orlando, FL 32809 USA

[5] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29631 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2009年 / 54卷 / 06期

关键词：

Lyapunov methods; quaternion representation; robust adaptive control; uncertain systems; visual servo control; ROBOT;

D O I：

10.1109/TAC.2009.2015541

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 technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography-based visual servo control approach is used to address the six degrees-of-freedom regulation problem. A high-gain robust controller is developed to asymptotically stabilize the rotation error, and an adaptive controller is developed to stabilize the translation error while compensating for the unknown depth information and intrinsic camera calibration parameters. A Lyapunov-based analysis is used to examine the stability of the developed controller.

引用

页码：1318 / 1324

页数：7

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