Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Jianbo SuG Schmidt

Abstract

A new control scheme for uncalibrated robotic visual tracking problem is proposed that compromises the computational expenses of overall system with offline modeling and online control. A nonlinear visual mapping model for the uncalibrated hand-eye coordination is first proposed with an artificial neural network implementation. An online visual tracking controller is then developed together with a real-time motion planner. To improve the system performance, the control scheme is also integrated with a feedforward controller to compensate unknown object motions. Extensive simulations and experiments demonstrate the effectiveness of the proposed control scheme.

Citations

Oct 7, 2004·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Jianbo SuYugeng Xi

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