Uncalibrated Dynamic Visual Servoing

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/41950

Title: Uncalibrated Dynamic Visual Servoing
Author: Piepmeier, Jenelle Armstrong ; McMurray, Gary V. ; Lipkin, Harvey
Abstract: 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.
Description: ©2004 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/TRA.2003.820923
Type: Paper
URI: http://hdl.handle.net/1853/41950
Citation: Piepmeier, J.A., McMurray, G.V., & Lipkin, H. (2004). “Uncalibrated Dynamic Visual Servoing”. IEEE Transactions on Robotics and Automation. Vol. 20, No.1, February 2004. p. 143-148.
Date: 2004-02
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
United States Naval Academy
Georgia Tech Research Institute
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Dynamic nonlinear least squares
Jacobian estimation
Uncalibrated visual servoing

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