`Robust' convergent visual servoing system

D. Kim, A. A. Rizzi, G. D. Hager, D. E. Koditschek

Research output: ResearchConference contribution

Abstract

This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper's spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments.

LanguageEnglish (US)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
PublisherIEEE
Pages348-353
Number of pages6
Volume1
StatePublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Pittsburgh, PA, USA
Duration: Aug 5 1995Aug 9 1995

Other

OtherProceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3)
CityPittsburgh, PA, USA
Period8/5/958/9/95

Fingerprint

Visual servoing
Calibration
Grippers
Stereo vision
End effectors
Cameras
Controllers
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kim, D., Rizzi, A. A., Hager, G. D., & Koditschek, D. E. (1995). `Robust' convergent visual servoing system. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 348-353). IEEE.

`Robust' convergent visual servoing system. / Kim, D.; Rizzi, A. A.; Hager, G. D.; Koditschek, D. E.

IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 1 IEEE, 1995. p. 348-353.

Research output: ResearchConference contribution

Kim, D, Rizzi, AA, Hager, GD & Koditschek, DE 1995, `Robust' convergent visual servoing system. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, pp. 348-353, Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 3 (of 3), Pittsburgh, PA, USA, 8/5/95.
Kim D, Rizzi AA, Hager GD, Koditschek DE. `Robust' convergent visual servoing system. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. IEEE. 1995. p. 348-353.
Kim, D. ; Rizzi, A. A. ; Hager, G. D. ; Koditschek, D. E./ `Robust' convergent visual servoing system. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 1 IEEE, 1995. pp. 348-353
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