Adaptive Control Techniques for Dynamic Visual Repositioning of Hand-Eye Robotic Systems

摘要

Using active monocular vision for 3-D visual control tasks is difficult since the translational and the rotational degrees of freedom are strongly coupled. This paper addresses several issues in 3D visual control and presents adaptive control schemes for the the problem of robotic visual servoing (eye-in-hand configuration) around a static rigid target. The objective is to move the image projections of several feature poinb of the static rigid target to some desired image positions The inverse perspective transformation is assumed partially unknown. The adaptive controllers compensate for the servoing errors, the partially unknown camera parameters, and the computational delays which are introduced by the time-consuming vision algorithms. We present a stability analysis along with a study of the conditions that the feature points must satisfy in order for the problem to be solvable. Finally, several experimental results are presented to verify the validity and the efficacy of the proposed algorithms.