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Uncalibrated visual tracking control without visual velocity / Hesheng Wang in IEEE Transactions on control systems technology, Vol. 18 N° 6 (Novembre 2010) 

Public ISBD [article]  in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1359-1370 Titre : Uncalibrated visual tracking control without visual velocity Type de document : texte imprimé Auteurs : Hesheng Wang, Auteur ; Yun-Hui Liu, Auteur ; Weidong Chen, Auteur Année de publication : 2011 Article en page(s) : pp. 1359-1370 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Adaptive  control  Tracking  control  Visual  servoing  Visual  velocity Index. décimale : 629.1 Résumé : This paper presents a new adaptive controller for image-based tracking of a robot manipulator without using visual velocity when the intrinsic and extrinsic parameters of the camera are not calibrated. Most of existing controllers require the measurement of the visual velocity, which is subject to big noises in general due to low sampling rates of the vision loop. To avoid performance decaying caused by measurement errors of the visual velocity we propose a new image-based tracking controller based on the proposal of an estimator of visual velocity. With a full consideration of dynamic responses of the robot manipulator, we proved the convergence of the image errors of the trajectory to zero and the convergence of the estimated parameters to the real values up to a scale by the Lyapunov method. Experiments have been conducted to demonstrate good convergence of the trajectory errors under the control of the proposed method. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5419975 [article] Uncalibrated visual tracking control without visual velocity [texte imprimé] / Hesheng Wang, Auteur ; Yun-Hui Liu, Auteur ; Weidong Chen, Auteur . - 2011 . - pp. 1359-1370. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 6 (Novembre 2010) . - pp. 1359-1370 Mots-clés : Adaptive  control  Tracking  control  Visual  servoing  Visual  velocity Index. décimale : 629.1 Résumé : This paper presents a new adaptive controller for image-based tracking of a robot manipulator without using visual velocity when the intrinsic and extrinsic parameters of the camera are not calibrated. Most of existing controllers require the measurement of the visual velocity, which is subject to big noises in general due to low sampling rates of the vision loop. To avoid performance decaying caused by measurement errors of the visual velocity we propose a new image-based tracking controller based on the proposal of an estimator of visual velocity. With a full consideration of dynamic responses of the robot manipulator, we proved the convergence of the image errors of the trajectory to zero and the convergence of the estimated parameters to the real values up to a scale by the Lyapunov method. Experiments have been conducted to demonstrate good convergence of the trajectory errors under the control of the proposed method. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5419975