Referenced Items are not available for this document.
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
Date of Conference: 1999
- Page(s):
- 944 - 949
- Meeting Date :
- 19 Sep 1999-23 Sep 1999
- Print ISBN:
- 0-7803-5038-3
- INSPEC Accession Number:
- 6440855
- Conference Location :
- Atlanta, GA
- Digital Object Identifier :
- 10.1109/AIM.1999.803299
- Product Type:
- Conference Publications
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