On the adaptive control of robot manipulators
International Journal of Robotics Research
Recursive Estimation of Motion, Structure, and Focal Length
IEEE Transactions on Pattern Analysis and Machine Intelligence
Brief paper: Adaptive Jacobian vision based control for robots with uncertain depth information
Automatica (Journal of IFAC)
A new formulation of visual servoing based on cylindrical coordinate system
IEEE Transactions on Robotics
Uncalibrated visual servoing of robots using a depth-independent interaction matrix
IEEE Transactions on Robotics
Dynamic Visual Tracking for Manipulators Using an Uncalibrated Fixed Camera
IEEE Transactions on Robotics
Adaptive Visual Servoing Using Point and Line Features With an Uncalibrated Eye-in-Hand Camera
IEEE Transactions on Robotics
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Motion-Estimation-Based Visual Servoing of Nonholonomic Mobile Robots
IEEE Transactions on Robotics
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This paper generalizes the concept of the depth-independent interaction matrix, developed for point and line features in our early work, to generalized image features. We derive the conditions under which the depth-independent interaction matrix can be linearly parameterized by the geometric parameters of the generalized image features, and propose an adaptive visual servo controller for robot manipulators using the generalized image features whose geometric parameters are unknown. To estimate the unknown parameters on-line, we propose new error functions that are linear to estimation errors of the parameters and an algorithm that minimizes the error functions using multiple images. The Lyapunov theory is used to prove asymptotic stability of the proposed controller based on the nonlinear dynamics of the manipulator. It is also shown that in addition to points and lines, other common image features like distances, angles, areas, and centroids all satisfy the conditions for the linear parameterization. Experiments have been conducted to validate the proposed control method.