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A dynamic Jacobian estimation method for uncalibrated visual servoing

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3 Author(s)
Piepmeier, J.A. ; Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; McMurray, G.V. ; Lipkin, H.

A dynamic Broyden's method is presented for use in a quasi-Newton control scheme for model-independent vision guided robotic control. Model independent visual servo control is defined as using visual feedback to control a robot without precisely calibrated kinematic and camera models. The control problem is formulated as a nonlinear least squares optimization. For the moving target case, this results in a time-varying objective function which is minimized using a dynamic Newton's method. The dynamic Jacobian estimation scheme is used to estimate the combined robot and image Jacobians. Experimental results for a two-degree-of-freedom system demonstrates the success of the algorithm

Published in:

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

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