Homography-Based Visual Servoing for Eye-in-Hand Robots with Unknown Feature Positions
2022 4th International Conference on Control and Robotics (ICCR)(2022)
摘要
Visual servoing can effectively control robots using visual feedback information to improve the intelligence and reliability. In most existing dynamics-based image-based visual servoing methods, a restricted condition that the number of the feature points is no larger than 3 is needed to achieve pixel error convergence, which makes them difficlut to achieve three-dimensional (3-D) pose control since at least 4 feature points on a plane are needed to determine the unique end-effector pose. This paper puts forward to a dynamics-based adaptive homography-based visual servoing (HBVS) controller to regulate robot manipulators with eye-in-hand monocular cameras to the desired pose under unknown but constant feature positions. The uncertain depth is represented as a linear form of its position parameters in the Cartesian space, and a composite learning technique is applied to guarantee parameter convergence under a much weaker condition of interval excitation than persistent excitation, resulting in exact depth estimation and 3-D pose regulation. Experiments on a collaborative robot with 7 degrees of freedom named Franka Emika Panda have illustrated the effectiveness of the proposed method.
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关键词
Adaptive control,dynamic control,vision-based control,depth estimation,parameter convergence,collaborative robot
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