Hybrid vision-based robot control robust to large calibration errors on both intrinsic and extrinsic camera parameters

摘要

This paper concerns the control of a camera, mounted on the end-effector of a robot manipulator, using a hybrid visual servoing scheme. Hybrid vision-based control consists in using information available directly at the image level jointly with the information reconstructed from two views of a rigid object (i.e. the displacement of the camera). The aim of this paper is to design a simple control law and to provide sufficient conditions for its global asymptotic stability. The control law is proved to be robust to a large amount of calibration errors. Contrarily to previous work, we suppose that calibration errors concern both intrinsic and extrinsic camera parameters.