Adaptive control techniques for dynamic visual repositioning of hand-eye robotic systems

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Using active monocular vision for 3-D visual control tasks is difficult since the translational and the rotational degrees of freedom are strongly coupled. The paper addresses several issues in 3-D visual control and presents adaptive control schemes for the problem of robotic visual servoing (eye-in-hand configuration) around a static rigid target. The objective is to move the image projections of several feature points of the static rigid target to some desired image positions. The inverse perspective transformation is assumed partially unknown. The adaptive controllers compensate for the servoing errors, the partially unknown camera parameters, and the computational delays which are introduced by the time-consuming vision algorithms. The authors present a stability analysis along with a study of the conditions that the feature points must satisfy in order for the problem to be solvable. Finally, several experimental results are presented to verify the validity and the efficacy of the proposed algorithms.

Original languageEnglish (US)
Title of host publicationIEEE Workshop on Applications of Computer Vision
PublisherIEEE Computer Society
Pages110-117
Number of pages8
ISBN (Electronic)0818628405
DOIs
StatePublished - Jan 1 1992
Event1992 IEEE Workshop on Applications of Computer Vision, WACV 1992 - Palm Springs, United States
Duration: Nov 30 1992Dec 2 1992

Publication series

NameProceedings of IEEE Workshop on Applications of Computer Vision
Volume1992-November
ISSN (Print)2158-3978
ISSN (Electronic)2158-3986

Conference

Conference1992 IEEE Workshop on Applications of Computer Vision, WACV 1992
CountryUnited States
CityPalm Springs
Period11/30/9212/2/92

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