Paper Info
Title
Decoupled Intensity-Based Nonmetric Visual Servo Control
Abstract
This brief addresses the problem of vision-based robot control where the equilibrium state is defined via a goal image. Specifically, we consider the class of intensity-based nonmetric solutions, which provide for high accuracy, versatility, and robustness. Existing techniques within that class present a fully coupled translational and rotational control error dynamics, what increases analysis complexity and may degrade system performance. This brief proposes a new intensity-based nonmetric visual servoing technique that decouples the translational control error dynamics, regardless of the observed object characteristics, camera displacements, and their relative poses. The obtained system is thus lower triangular in the general case. For some practical cases, the proposed general technique leads to the Grail of a fully decoupled (i.e., strictly diagonal) linear dynamics. The theoretical analysis of local diffeomorphism, local exponential stability, and those decoupling properties is provided. Improved performances are also experimentally confirmed using a 6-DoF robotic arm in various positioning and tracking tasks.
Year
DOI
Venue
2020
10.1109/TCST.2018.2873541
IEEE Transactions on Control Systems and Technology
Keywords
Field
DocType
Visual servoing,Measurement,Cameras,Voltage control,Visualization,Estimation
Local diffeomorphism,Robot control,Robotic arm,Control theory,Decoupling (cosmology),Robustness (computer science),Exponential stability,Visual servoing,Servo control,Mathematics
Journal
Volume
Issue
ISSN
28
2
1063-6536
Citations 
PageRank 
References 
0
0.34
10
Authors
3
Name
Order
Citations
PageRank
Geraldo F. Silveira120212.78
Luiz G. B. Mirisola2214.47
Pascal Morin313617.08