Abstract
The calibration requirements for visual servoing can make it difficult to apply in many real-world situations. One approach to image-based visual servoing without calibration is to dynamically estimate the image Jacobian and use it as the basis for control. However, with the normal motion of a robot towards the goal, the estimation of the image Jacobian deteriorates over time. We propose the use of additional `exploratory motion' to considerably improve the estimation of the image Jacobian. We study the role of such exploratory motion in a visual servoing task. Simulations and experiments with a 6-DOF robot are used to verify the practical feasibility of the approach.
| Original language | English |
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| Pages (from-to) | 974-979 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: Apr 20 1997 → Apr 25 1997 |