26 August 1999 Experimental results using vision-based control for uncalibrated robotic systems
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Abstract
This work demonstrates a vision-based control technique that does not require robot or vision system calibration. There are two distinct advantages: first, the approach is generic and can be applied to a variety of systems; second, calibration is unnecessary after a reconfiguration or disturbance to the robotic workcell. It has the potential to provide a low-cost, low-maintenance automation solution for unstructured industries and environments. The robot end- effector tracks a moving target using a novel dynamic quasi- Newton control was formulated in the image plane and on-line Jacobian estimation using either a dynamic Broyden's method or a dynamic recursive least squares algorithm. Experimental results demonstrate convergent and stable control of an uncalibrated manipulator tracking a moving target. The method is shown to be robust to system reconfiguration such as modifications to the position and orientation of the camera.
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Jenelle Armstrong Piepmeier, Gary V. McMurray, Harvey Lipkin, "Experimental results using vision-based control for uncalibrated robotic systems", Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360288; https://doi.org/10.1117/12.360288
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