Visual servo control using stereo image Jacobian

Authors:
Arswin Saetang;Arthit Srikaew
Affiliations:
Robotics and Automation Research Unit for Real-World Applications, School of Electrical Engineering, Suranaree University of Technology, Nakhon Ratchasima, Thailand;Robotics and Automation Research Unit for Real-World Applications, School of Electrical Engineering, Suranaree University of Technology, Nakhon Ratchasima, Thailand
Venue:
ACMOS'06 Proceedings of the 8th WSEAS international conference on Automatic control, modeling & simulation
Year:
2006

Citing 2
Cited 0

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Abstract

Visual servo is a method to control robot manipulator using both image and robot information. In this paper, stereo image Jacobian has been developed and applied to control a 5-DOF robot manipulator with two cameras mounted on it. The proposed dynamic estimation of stereo image Jacobian allows the system to achieve visual servoing without any calibration of the camera or robot and any robot kinematics. The robot trajectory can then be planned online which provides the system to work in an undetermined environment. The proposed technique can also be used to directly drive motors of the robot joints.