Dynamic visual servo control of robots: An adaptive image-based approach

Lee Weiss, Arthur C. Sanderson, and C.P. Neuman
Proceedings of the 1985 IEEE International Conference on Robotics and Automation (ICRA '85), March, 1985, pp. 662 - 668.


Download
  • Adobe portable document format (pdf) (656KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Sensory systems, such as computer vision, can be used to measure relative robot end-effector positions to derive feedback signals for control of end-effector positioning. The role of vision as the feedback transducer affects closed-loop dynamics, and a visual feedback control strategy is required. Vision-based robot control research has focused on vision processing issues, while control system design has been limited to ad-hoc strategies. We formalize an analytical approach to dynamic robot visual servo control systems by first casting position-based and image-based strategies into classical feedback control structures. The image-based structure represents a new approach to visual servo control, which uses image features (e.g., image areas, and centroids) as feedback control signals, thus eliminating a complex interpretation step (i.e., interpretation of image features to derive world-space coordinates). Image-based control presents formidable engineering problems for controller design, including coupled and nonlinear dynamics, kinematics, and feedback gains, unknown parameters, and measurement noise and delays. A model reference adaptive controller (MRAC) is designed to satisfy these requirements.

Notes
Number of pages: 7

Text Reference
Lee Weiss, Arthur C. Sanderson, and C.P. Neuman, "Dynamic visual servo control of robots: An adaptive image-based approach," Proceedings of the 1985 IEEE International Conference on Robotics and Automation (ICRA '85), March, 1985, pp. 662 - 668.

BibTeX Reference
@inproceedings{Weiss_1985_4521,
   author = "Lee Weiss and Arthur C Sanderson and C.P. Neuman",
   title = "Dynamic visual servo control of robots: An adaptive image-based approach",
   booktitle = "Proceedings of the 1985 IEEE International Conference on Robotics and Automation (ICRA '85)",
   pages = "662 - 668",
   month = "March",
   year = "1985",
   volume = "2",
}