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Proceedings Paper

Experimental results using vision-based control for uncalibrated robotic systems
Author(s): Jenelle Armstrong Piepmeier; Gary V. McMurray; Harvey Lipkin
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Paper 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.

Paper Details

Date Published: 26 August 1999
PDF: 10 pages
Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360288
Show Author Affiliations
Jenelle Armstrong Piepmeier, Georgia Institute of Technology (United States)
Gary V. McMurray, Georgia Tech Research Institute (United States)
Harvey Lipkin, Georgia Institute of Technology (United States)


Published in SPIE Proceedings Vol. 3837:
Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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