Uncalibrated Visual Servoing of Robots with New Image Jacobian Estimation Method

摘要

A new adaptive controller was proposed to deal with the position control or trajectory tracking for image-based dynamic control of a robot manipulator, which was applicable to the fixed camera configuration or the eye-in-hand set up whose intrinsic and extrinsic parameters were not known. Using matrix transform made the unknown elements of the image Jacobian matrix appear linearly in the closed-loop dynamics so that a new algorithm was developed to estimate their values on-line. Based on the nonlinear robot dynamics, the asymptotic convergence of the image errors to zero was proved by the Lyapunov theory. A simulation demonstrates the effectiveness of the proposed scheme.