Effects of camera calibration errors for 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 intrinsic and 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 carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of the 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.
- Visual servoing
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications