Adaptive visual servoing using common image features with unknown geometric parameters

作者：Liu, Yun-Hui^*; Wang, Hesheng; Chen, Weidong; Zhou, Dongxiang

来源：Automatica, 2013, 49(8): 2453-2460.

DOI：10.1016/j.automatica.2013.04.018

• Visual servoing
• Robot manipulator
• Adaptive control
• Common image features

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.

• 出版日期2013-8
• 单位中国人民解放军国防科学技术大学; 机器人学国家重点实验室; 香港中文大学; 上海交通大学; 哈尔滨工业大学