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A “Robust” Convergent Visual Servoing System

RSJ/IEEE International Conference on Intelligent Robots and Systems, August 1995

D. Kim, A. A. Rizzi, G. D Hager, and D. E. Koditschek
University of Michigan
Full PDF | Penn Scholarly Commons | Web Link

Abstract
      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.
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},
}

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