2A1-G01 Uncalibrated Visual Servoing Technique with Obstacle Avoidance using Nonlinear Least Squares Optimization

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概要

• 論文の詳細を見る

• This paper addresses uncalibrated image-based visual servoing utilizing a fixed camera with estimation of the image Jacobian without knowledge of camera configuration or robot kinematics. The image Jacobian is estimated using the affine model of the end-effector feature. The robot system is controlled using the nonlinear least squares optimization technique for minimizing the image error between the goal position and the position of the end-effector. In order to avoid the obstacle, the composite cost function is proposed. The simulation results show the validity of the proposed method.

• 一般社団法人日本機械学会の論文
• 2009-05-25

著者

• Park Jae

  Div. Of Electronics And Information Engineering Chonbuk National University

• Kim Gon-Woo

  Div. of Electronic and Control Engineering, Wonkwang University

• Kim Gon-woo

  Div. Of Electronic And Control Engineering Wonkwang University

関連論文

• 2A1-G01 Uncalibrated Visual Servoing Technique with Obstacle Avoidance using Nonlinear Least Squares Optimization
• 2A1-B01 Mono Vision based Electrophoretic Deposition Robot Control

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