Visual tracking of robots in uncalibrated environments
Visual tracking of robots in uncalibrated environments
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DOI：
10.1109/iros.2011.6094647
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发表时间：
2011-12
期刊：
影响因子：
--
通讯作者：
Hesheng Wang;Weidong Chen;Zhong-li Wang
中科院分区：
文献类型：
--
作者：
Hesheng Wang;Weidong Chen;Zhong-li Wang
本文提出了一种新的自适应控制器，用于固定摄像机下机械臂内、外参数未标定的三维一般运动视觉跟踪控制。除了相机参数外，特征在三维空间中的位置也是未知的。针对采用与深度无关的交互矩阵将图像误差映射到机械臂关节空间时，未知参数在系统闭环动力学中呈现线性的特点，提出了一种新的在线估计未知参数的自适应算法。在充分考虑机械臂动态响应的情况下，采用Lyapunov方法证明了图像误差的渐近收敛性。实验结果验证了该方法的有效性。
This paper presents a new adaptive controller for visual tracking control of a robot manipulator in 3D general motion with a fixed camera whose intrinsic and extrinsic parameters are uncalibrated. In addition to camera parameters, the feature positions in 3D space are also assumed unknown. Based on the fact that the unknown parameters appears linearly in the closed-loop dynamics of the system if the depth-independent interaction matrix is adopted to map the image errors onto the joint space of the manipulator, we developed a new adaptive algorithm to estimated the unknown parameters on-line. With a full consideration of dynamic responses of the robot manipulator, we employ the Lyapunov method to prove asymptotic convergence of the image errors. Experimental results are used to demonstrate the performance of the proposed approach.