Versatile visual servoing without knowledge of true Jacobian

Proposes a versatile visual servoing control scheme with a Jacobian matrix estimator. The Jacobian matrix estimator does not need a priori knowledge of the kinematic structure and parameters of the robot system, such as camera and link parameters. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories, by using the estimated Jacobian matrix, which is proved by the Lyapunov stability theory. To show the effectiveness of the proposed scheme, simulation and experimental results are presented.<<ETX>>

[1]  Lee E. Weiss,et al.  Dynamic sensor-based control of robots with visual feedback , 1987, IEEE Journal on Robotics and Automation.

[2]  Roger Y. Tsai,et al.  A new technique for fully autonomous and efficient 3D robotics hand/eye calibration , 1988, IEEE Trans. Robotics Autom..

[3]  C. S. George Lee,et al.  Adaptive image feature prediction and control for visual tracking with a hand-eye coordinated camera , 1990, IEEE Trans. Syst. Man Cybern..

[4]  Tsutomu Kimoto,et al.  Manipulator control with image-based visual servo , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[5]  P. K. Khosla,et al.  Adaptive Robotic Visual Tracking , 1991, 1991 American Control Conference.

[6]  Z. Zenn Bien,et al.  Feature-based visual servoing of an eye-in-hand robot with improved tracking performance , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[7]  Fumio Miyazaki,et al.  Manipulator Control by Visual Ser-voing with the Stereo Vision , 1993 .

[8]  Nikolaos Papanikolopoulos,et al.  Adaptive robotic visual tracking: theory and experiments , 1993, IEEE Trans. Autom. Control..

[9]  Masayuki Inaba,et al.  Rope handling by mobile hand-eye robots , 1993 .

[10]  Nikolaos Papanikolopoulos,et al.  Visual Servoing for Robotic Assembly , 1993 .

[11]  Peter Corke,et al.  VISUAL CONTROL OF ROBOT MANIPULATORS – A REVIEW , 1993 .

[12]  Nikolaos Papanikolopoulos,et al.  Six degree-of-freedom hand/eye visual tracking with uncertain parameters , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.