Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Image-based Visual Servoing Through Range and Feature Point Uncertainty Estimation of a Target for a Manipulator

목표물의 거리 및 특징점 불확실성 추정을 통한 매니퓰레이터의 영상기반 비주얼 서보잉

  • Lee, Sanghyob (Department of Electrical and Computer Engineering, Ajou University) ;
  • Jeong, Seongchan (Department of Electrical and Computer Engineering, Ajou University) ;
  • Hong, Young-Dae (Department of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dongkyoung (Department of Electrical and Computer Engineering, Ajou University)
  • Received : 2016.02.07
  • Accepted : 2016.03.09
  • Published : 2016.06.01
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Abstract

This paper proposes a robust image-based visual servoing scheme using a nonlinear observer for a monocular eye-in-hand manipulator. The proposed control method is divided into a range estimation phase and a target-tracking phase. In the range estimation phase, the range from the camera to the target is estimated under the non-moving target condition to solve the uncertainty of an interaction matrix. Then, in the target-tracking phase, the feature point uncertainty caused by the unknown motion of the target is estimated and feature point errors converge sufficiently near to zero through compensation for the feature point uncertainty.

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References

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