Name
Abstract | ||
|---|---|---|
This article describes a robot positioning task with respect to a static target by visual servoing. The vision system is uncalibrated,
and the kinematic model of the robot may be totally unknown. The displacements of the robot at joint level are generated in
real time in order to minimize the objective function. The objective function includes the quadratic error between the current
and the desired target images. A simplex method is used to minimize the objective function, and a Newton-like method is also
used near convergence. We successfully validated this method with simulations under the graphic library OpenGL. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1007/s10015-005-0374-4 | Artificial Life and Robotics |
Keywords | DocType | Volume |
uncalibrated visual servoing · model-less visual servoing · optimization,real time,visual servoing,objective function,vision system,simplex method | Journal | 10 |
Issue | ISSN | Citations |
2 | 1614-7456 | 1 |
PageRank | References | Authors |
0.35 | 5 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kanako Miura | 1 | 208 | 14.99 |
| Koichi Hashimoto | 2 | 348 | 58.26 |
| Hikaru Inooka | 3 | 129 | 17.86 |
| Jacques A. Gangloff | 4 | 1 | 0.35 |
| Michel de Mathelin | 5 | 380 | 49.93 |