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Uncalibrated Eye-in-Hand Visual Servoing

U.S. Naval Academy Annapolis, MD 21402, USA

Harvey Lipkin

Georgia Institute of Technology Atlanta, GA 30332, USA

In this paper we present new uncalibrated control schemes for vision-guided robotic tracking of a moving target using a moving camera. These control methods are applied to an uncalibrated robotic system with eye-in-hand visual feedback. Without a priori knowledge of the robot's kinematic model or camera calibration, the system is able to track a moving object through a variety of motions and maintain the object's image features in a desired position in the image plane. These control schemes estimate the system Jacobian as well as changes in target features due to target motion. Four novel strategies are simulated and a variety of parameters are investigated with respect to performance. Simulation results suggest that a Gauss-Newton method utilizing a partitioned Broyden's method for model estimation provides the best steady-state tracking behavior.

Key Words: uncalibrated eye-in-hand visual servoing • nonlinear least squares • Jacobian estimation

The International Journal of Robotics Research, Vol. 22, No. 10-11, 805-819 (2003)
DOI: 10.1177/027836490302210002


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