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Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system

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4 Author(s)
Jianbo Su ; Dept. of Autom., Shanghai Jiaotong Univ., China ; Yugeng Xi ; Hanebeck, U.D. ; Schmidt, G.

A new control scheme for the uncalibrated robotic visual tracking problem is proposed that compromises the computational expenses of overall system with offline modeling and online control. A nonlinear visual mapping model for the uncalibrated hand-eye coordination is first proposed with an artificial neural network implementation. An online visual tracking controller is then developed together with a real-time motion planner. To improve the system performance, the control scheme is also integrated with a feedforward controller to compensate unknown object motions. Extensive simulations and experiments demonstrate the effectiveness of the proposed control scheme.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:34 ,  Issue: 1 )