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
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.
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