[1]LI Mu,PANG Ming,WANG Xia-yu.Technique for uncalibrated eyeinhand visual servoing[J].CAAI Transactions on Intelligent Systems,2007,2(6):60-64.
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Technique for uncalibrated eyeinhand visual servoing

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 2 Number of periods: 2007 6 Page number: 60-64 Column: 学术论文—智能系统 Public date: 2007-12-25
Title:
Technique for uncalibrated eyeinhand visual servoing
Author(s):
LI Mu;  PANG Ming;  WANG Xia-yu
Institute of Robotics,　Harbin Institute of Technology,　Harbi n 150080,China
Keywords:
uncalibrated visual servoing;  Jacobian matrix approaching of composite image;  Jacobian matrix difference
CLC:
TP242.6
DOI:
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Abstract:
It is impossible to precisely calibrate cameras and robotic models in industrial practice, but most of the current visual servoing systems must calibrate their system model. Therefore, a novel dynamic uncalibrated eyeinhand visual servo in g system is proposed, which can track moving targets without needing to calibrat e the camera and the kinematic model of the robot. A vision guiding algorithm fo r tracking dynamic images was developed by minimizing the nonlinear objective fu nction. In current eyeinhand visual servoing systems, it is impossible to ca lc ulate changes to the composite Jacobian matrix with every time increment. To sol ve this problem, in this paper, we propose a method to estimate this change. Sim ulation results demonstrated the effectiveness of the approach.
References:
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