A Predictive Estimation Approach to Model Independent Visual Servoing
- 21 April 1998
- proceedings article
- Published by American Society of Civil Engineers (ASCE)
- p. 307-313
- https://doi.org/10.1061/40337(205)45
Abstract
Target tracking by model independent visual servo control is achieved by augmenting quasi-Newton trust region control with target prediction. Prediction schemes are shown to be effective despite imprecise knowledge of kinematic and camera models. A rank-one Broyden update law provides on-line estimation of the Jacobian, and a control law is provided in the form of a quasi-Newton trust region approach. Robot control is independent of robot and camera configurations, and is able to reach both static and moving targets.Keywords
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