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Adaptive visual servoing for various kinds of robot systems

  • Chapter 12 Sensor-Based Control
  • Conference paper
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Experimental Robotics V

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 232))

Abstract

This paper propose an adaptive visual servoing method consisting of an on-line estimator of the robot/image Jacobian matrix and a feedback/feedforward controller for uncalibrated camera-manipulator systems. The estimator does not need a priori knowledge on the kinematic structure nor on parameters of the camera-manipulator system. The controller consists of feedforward and feedback terms to make the image features converge to the desired trajectories using the estimated results. Some experimental results are given to show the validity of the proposed method.

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Authors and Affiliations

  1. Dept. of Adaptive Machine Systems, Osaka University, Yamadaoka 2-1, 565, Suita, Japan

    Koh Hosoda & Minoru Asada

Authors
  1. Koh Hosoda
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  2. Minoru Asada
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Editor information

Alicia Casals Anibal T. de Almeida

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© 1998 Springer-Verlag London Limited

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Hosoda, K., Asada, M. (1998). Adaptive visual servoing for various kinds of robot systems. In: Casals, A., de Almeida, A.T. (eds) Experimental Robotics V. Lecture Notes in Control and Information Sciences, vol 232. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0112991

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  • DOI: https://doi.org/10.1007/BFb0112991

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76218-8

  • Online ISBN: 978-3-540-40920-5

  • eBook Packages: Springer Book Archive

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