Static-eye against hand-eye visual servoing

Graziano Chesi, Koichi Hashimoto

Research output: Contribution to journalConference articlepeer-review

4 Citations (Scopus)

Abstract

In this paper, a comparison between static-eye and hand-eye configurations for the point-to-point visual servoing task realized with position-based and image-based control laws is presented. For these four configurations, the effect of uncertainty on intrinsic and extrinsic calibration parameters is investigated. The results show local stability for all configurations with small calibration errors and a steady state error for the hand-eye position-based one. Simulations have been carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of stability region.

Original languageEnglish
Pages (from-to)2854-2859
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
Publication statusPublished - 2002 Dec 1
Externally publishedYes
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: 2002 Dec 102002 Dec 13

Keywords

  • Calibration error
  • Position/image-based
  • Static/hand-eye
  • Visual servoing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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