Image based autodocking without calibration
نویسندگان
چکیده
The calibration requirements f o r visual servoing can make it di f icul t to apply in m a n y real-world situations. One approach t o image-based visual servoing without calibration is to dynamically estimate the image Jacobian and use at as the basis for control. However, wath the normal motion of a robot towards the goal, the estimation of the image Jacobian deteraorates ouer t ime. W e propose the use of additional “exploratory motion” to considerably amprove the estimation of the image Jacobian. W e study the role of such exploratory motion in a visual servoing task. Simulations and experiments with a 6-DOF robot are used to verify the practical feasibility of the approach.
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تاریخ انتشار 1997