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JRM Vol.16 No.2 pp. 178-185
doi: 10.20965/jrm.2004.p0178
(2004)

Paper:

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.
Data files:
References
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