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Visual servoing with an uncalibrated eye-in-hand camera

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5 Author(s)
Haifeng Li ; Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, China ; Jingtai Liu ; Yan Li ; Xiang Lu
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This paper presents a novel approach for image-based visual servo of a robot manipulator with an eye-in-hand configuration when the camera parameters are not calibrated and the trajectory of the moving object is not predicted. Firstly, the expression of the image Jacobian matrix for the eye-in-hand configuration, namely extended image Jacobian matrix, is proposed, then an update law is designed to estimate the extended image Jacobian online. Furthermore, a control scheme is presented and the Lyapunov method is employed to prove asymptotic convergence of the image errors. No assumption for the moving objects is needed. Finally, Both simulation and experimental results are shown to support the approach in this paper.

Published in:

Proceedings of the 29th Chinese Control Conference

Date of Conference:

29-31 July 2010