A “Robust” Convergent Visual Servoing System
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Kodlab
Electrical and Computer Engineering
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This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper’s spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments. For more information: Kod*Lab
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BibTeX entry @article{ kim-iros-1995, author = {D. Kim and A.A. Rizzi and G.D. Hager and D.E. Zoditschek}, title = {A "robust" convergent visual servoing system}, journal ={Intelligent Robots and Systems, IEEE/RSJ International Conference on}, volume = {1}, year = {1995}, isbn = {0-8186-7108-4}, pages = {348}, doi = {http://doi.ieeecomputersociety.org/10.1109/IROS.1995.525819}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, } Copyright 1995 IEEE. Reprinted from RSJ/IEEE International Conference on Intelligent Robots and Systems . This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.