Configuration and Robustness in Visual Servo

Graziano Chesi; Koichi Hashimoto

doi:10.20965/jrm.2004.p0178

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JRM Vol.16 No.2 pp. 178-185

doi: 10.20965/jrm.2004.p0178

(2004)

Paper:

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Configuration and Robustness in Visual Servo

Graziano Chesi, and Koichi Hashimoto

Department of Information Physics and Computing, The University of Tokyo Hongo 7-3-1, Bunkyo-ku, Tokyo 113-8656, Japan

Received:

October 12, 2003

Accepted:

December 5, 2003

Published:

April 20, 2004

Keywords:

visual servoing, static/hand-eye, position/image-based, robustness

Abstract

Effects of camera calibration errors on the point-to-point task are investigated in static-eye and hand-eye visual servoing realized with position-based and image-based control laws. For these four configurations, the effect of uncertainty on the extrinsic parameters is analyzed. The results show local stability for all configurations under small calibration errors. However, a steady state error is found in the hand-eye position-based configuration. Simulations have been done to confirm the theoretical results and evaluate the effects of the uncertainty in terms of stability region. Another contribution of the paper consists of providing a method for estimating the stability region robust against uncertainty directions for the static-eye position-based case with uncertainty on the camera centers.

Cite this article as:

Graziano Chesi and Koichi Hashimoto, “Configuration and Robustness in Visual Servo,” J. Robot. Mechatron., Vol.16, No.2, pp. 178-185, 2004.

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References

[1] G. Chesi and K. Hashimoto, “Static-eye against hand-eye visual servoing,” in Proc. of 41st IEEE Conf. on Decision and Control, Las Vegas, pp. 2854-2859, 2002.
[2] Z. Dodds, G. D. Hager, A. S. Morse, and J. P. Hespanha, “Task specification and monitoring for uncalibrated hand/eye coordination,” in Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, pp. 1607-1613, 1999.
[3] B. Espiau, “Effect of camera calibration errors on visual servoing in robotics,” in 3rd Int. Symposium on Experimental Robotics, Kyoto, 1993.
[4] G. Flandin, F. Chaumette, and E. Marchand, “Eye-in-hand/eye-to-hand cooperation for visual servoing,” in Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, pp. 2741-2746, 2000.
[5] G. D. Hager, W.-C. Chang, and A. S. Morse, “Robot hand-eye coordination based on stereo vision,” IEEE Control Systems, 15(1):30-39, 1995.
[6] K. Hashimoto, editor, “Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback,” World Scientific, Singapore, 1993.
[7] S. Hutchinson, G. D. Hager, and P.I . Corke, “A tutorial on visual servo control,” IEEE Trans. on Robotics and Automation, 12(5):651-670, 1996.
[8] H. K. Khalil, “Nonlinear Systems,” McMillan Publishing Company, New York, 1992.

[1] [1] G. Chesi and K. Hashimoto, “Static-eye against hand-eye visual servoing,” in Proc. of 41st IEEE Conf. on Decision and Control, Las Vegas, pp. 2854-2859, 2002.

[2] [2] Z. Dodds, G. D. Hager, A. S. Morse, and J. P. Hespanha, “Task specification and monitoring for uncalibrated hand/eye coordination,” in Proc. IEEE Int. Conf. on Robotics and Automation, Detroit, pp. 1607-1613, 1999.

[3] [3] B. Espiau, “Effect of camera calibration errors on visual servoing in robotics,” in 3rd Int. Symposium on Experimental Robotics, Kyoto, 1993.

[4] [4] G. Flandin, F. Chaumette, and E. Marchand, “Eye-in-hand/eye-to-hand cooperation for visual servoing,” in Proc. IEEE Int. Conf. on Robotics and Automation, San Francisco, pp. 2741-2746, 2000.

[5] [5] G. D. Hager, W.-C. Chang, and A. S. Morse, “Robot hand-eye coordination based on stereo vision,” IEEE Control Systems, 15(1):30-39, 1995.

[6] [6] K. Hashimoto, editor, “Visual Servoing: Real-Time Control of Robot Manipulators Based on Visual Sensory Feedback,” World Scientific, Singapore, 1993.

[7] [7] S. Hutchinson, G. D. Hager, and P.I . Corke, “A tutorial on visual servo control,” IEEE Trans. on Robotics and Automation, 12(5):651-670, 1996.

[8] [8] H. K. Khalil, “Nonlinear Systems,” McMillan Publishing Company, New York, 1992.