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 the robot towards the goal, the estimation of the image Jacobian deteriorates over time. We propose the use of additional "exploratory motion" in the direction in which it is most needed, thus considerably improving the estimation of the image Jacobian. We study the role such exploratory motion can play 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 |
|---|---|
| Pages (from-to) | 153-169 |
| Number of pages | 17 |
| Journal | Robotics and Autonomous Systems |
| Volume | 23 |
| Issue number | 3 |
| DOIs | |
| State | Published - Apr 2 1998 |
Funding
We would like to thank Bruce Jatko and Jim Goddard of ORNL, and Mike Zeller at Beckman Institute for their help in conducting the experiments. Research sponsored in part by the US Army's Project Manager Crusader under Interagency Agreement 1892-A078-A I between the US Department of Energy and the Armament Research, Development, and Engineering Center at the Picatinny Arsenal, and in part by the US Army Research Laboratory under Cooperative Agreement No. DAAL01-96-2-0003.
Keywords
- Image features
- Image jacobian
- Visual servoing
- Without calibration