Adaptive Visual Servoing for Various Kinds of Robot Systems

Abstract: This paper propose an adaptive visual servoing method consisting of an on-line estimator of the robot/image Jacobian matrix and a feedback/feedforward controller for uncalibrated camera-manipulator systems. The estimator does not need a priori knowledge on the kinematic structure nor on parameters of the camera-manipulator system. The controller consists of feedforward and feedback terms to make the image features converge to the desired trajectories using the estimated results. Some experimental results are given to show the validity of the proposed method.

• Type: Conference
• Year: 1997
• Where: ISER
• Authors: Koh Hosoda, Minoru Asada
• Keywords: ISER 1997, Robot/image Jacobian Matrix, Robotics, Uncalibrated Camera-manipulator Systems, Visual Servoing Method