Uncalibrated Dynamic Visual Servoing
Piepmeier, Jenelle Armstrong
McMurray, Gary V.
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A dynamic quasi-Newton method for uncalibrated, vision-guided robotic tracking control with fixed imaging is developed and demonstrated. This method does not require calibrated kinematic and camera models. Robotic control is achieved at each step through minimizing a nonlinear objective function by taking quasi-Newton steps and estimating the composite Jacobian at each step. The Jacobian is estimated using a dynamic recursive least squares algorithm. Experimental results demonstrate the validity of this approach.