Experimental results using vision-based control for uncalibrated robotic systems

Jenelle Armstrong Piepmeier; Gary V. McMurray; Harvey Lipkin

doi:10.1117/12.360288

26 August 1999 Experimental results using vision-based control for uncalibrated robotic systems

Jenelle Armstrong Piepmeier, Gary V. McMurray, Harvey Lipkin

Proceedings Volume 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision; (1999) https://doi.org/10.1117/12.360288
Event: Photonics East '99, 1999, Boston, MA, United States

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.

Citation Download Citation

Jenelle Armstrong Piepmeier, Gary V. McMurray, and 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); https://doi.org/10.1117/12.360288

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