Accession Number:

ADA478509

Title:

Adaptive Visual Servoing in the Presence of Intrinsic Calibration Uncertainty

Descriptive Note:

Conference paper

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Personal Author(s):

• Chen, J.
• Behal, A.
• Dawson, D. M.
• Dixon, W. E.

Report Date:

2003-12-01

Pagination or Media Count:

7.0

Abstract:

In this paper, we design an adaptive kinematic controller that asymptotically regulates a robot end-effector to a desired position and orientation under visual feedback of points located on a fixed reference frame from a camera mounted on the end-effector. This task is accomplished despite lack of depth measurements as well as uncertainty in the camera intrinsic parameter matrix.

Descriptors:

• *CALIBRATION
• *COMPUTER VISION
• KINEMATICS
• UNCERTAINTY
• SERVOMECHANISMS
• THEOREMS
• SYMPOSIA
• DEGREES OF FREEDOM
• DECOUPLING

Subject Categories:

• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE