Abstract
This paper focuses on the visual servo control for an uncalibrated robotic arm with an eye-in-hand camera. Without a priori knowledge of the robotic arm’s kinematic model or camera calibration, the control system can track a moving object through visual feedback. Two methods are proposed to resolve the output constraint of control. The joint angle feedback is used to correct the calculating values of the joint angles in the first control method. The output of controller is re-scaled to ensure that the output constraint of controller is not violated in the second method. The performances of the proposed control methods are illustrated by the computer simulations.
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REFERENCES
N.R. Gans, S.A. Hutchinson and P.I. Corke (2003), Performance tests for visual servo control systems, with application to partitioned approaches to visual servo control. International Journal of Robotics Research, 22, 955–981.
J.A. Piepmeier and H. Lipkin (2003), Uncalibrated eye-in-hand visual servoing. International Journal of Robotics Research, 22, 805–819.
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© 2006 Springer
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Qizhi, Z., Xinsheng, G., Yanchun, L. (2006). UNCALIBRATED ROBOTIC ARM VISUAL SERVO CONTROL. In: LIU, G., TAN, V., HAN, X. (eds) Computational Methods. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-3953-9_14
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DOI: https://doi.org/10.1007/978-1-4020-3953-9_14
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-3952-2
Online ISBN: 978-1-4020-3953-9
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