Name
Title | ||
|---|---|---|
Global Uncalibrated Visual Servoing for Constrained Robots Working on an Uncalibrated Environments |
Abstract | ||
|---|---|---|
This paper studies the open problem of uncalibrated visual servoing for constrained robots with parametric uncertainties, interacting with unknown environments. A new theoretical framework and its experimental validation are given. This approach produces global exponential convergence of the constrained visual position and the contact force between the end-effector and the unknown constrain surface. This approach is based on the formulation of the visual orthogonalization principle (VOP), which, under the framework of passivity, yields a closed-loop system that fuses camera, encoder and force sensor signals. An experimental system running on Linux-RTAI OS is implemented to visually drive a constrained direct-drive robot manipulator, equipped with six axis JR3 force sensor and a FireWire CCD digital camera posed in fixed configuration. This experimental system proves the effectiveness of the proposed approach even when the robot, camera and restriction surface parameters are assumed as unknown |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IROS.2006.281768 | Beijing |
Keywords | Field | DocType |
closed loop systems,end effectors,position control,uncertain systems,visual servoing,FireWire CCD digital camera,JR3 force sensor,closed-loop system,constrained direct-drive robot manipulator,constrained visual position,contact force,end-effector,global uncalibrated visual servoing,parametric uncertainties,passivity framework,uncalibrated environments,unknown constrain surface,visual orthogonalization principle | Computer science,Control theory,Contact force,Control engineering,Artificial intelligence,Computer vision,Robot end effector,Digital camera,Parametric statistics,Visual servoing,Encoder,Robot,Orthogonalization | Conference |
ISBN | Citations | PageRank |
1-4244-0259-X | 0 | 0.34 |
References | Authors | |
5 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Emmanuel C. Dean-Leon | 1 | 62 | 15.39 |
| Vicente Parra-Vega | 2 | 180 | 33.57 |
| Arturo Espinosa-Romero | 3 | 81 | 6.66 |
| Dean-Leon, E.C. | 4 | 0 | 0.34 |
| Parra-Vega, V. | 5 | 3 | 1.84 |
| Espinosa-Romero, A. | 6 | 22 | 1.65 |