`Robust' convergent visual servoing system

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

Research output: Contribution to conferencePaperpeer-review

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.

Original languageEnglish (US)
Pages348-353
Number of pages6
StatePublished - Jan 1 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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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