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Online estimation of Image Jacobian Matrix for uncalibrated dynamic hand-eye coordination

Online estimation of Image Jacobian Matrix for uncalibrated dynamic hand-eye coordination This paper focuses on three different strategies for online estimation of the Image Jacobian Matrix (IJM) in uncalibrated robotic visual servoing, with the help of different scenarios of system configurations and coordination tasks that are prevalent in current research. The least square estimation method and the constant IJM policy are proposed for monocular visual feedback, while a Kalman filter-based method is proposed for a stereovision system. The PI control law and the optimal control theory are respectively adopted for coordination controllers to suit different control purposes. Extensive simulations and experiments are provided to evaluate performance of the proposed methods. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Systems, Control and Communications Inderscience Publishers

Online estimation of Image Jacobian Matrix for uncalibrated dynamic hand-eye coordination

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References (28)

Publisher
Inderscience Publishers
Copyright
Copyright © Inderscience Enterprises Ltd. All rights reserved
ISSN
1755-9340
eISSN
1755-9359
DOI
10.1504/IJSCC.2008.019582
Publisher site
See Article on Publisher Site

Abstract

This paper focuses on three different strategies for online estimation of the Image Jacobian Matrix (IJM) in uncalibrated robotic visual servoing, with the help of different scenarios of system configurations and coordination tasks that are prevalent in current research. The least square estimation method and the constant IJM policy are proposed for monocular visual feedback, while a Kalman filter-based method is proposed for a stereovision system. The PI control law and the optimal control theory are respectively adopted for coordination controllers to suit different control purposes. Extensive simulations and experiments are provided to evaluate performance of the proposed methods.

Journal

International Journal of Systems, Control and CommunicationsInderscience Publishers

Published: Jan 1, 2008

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