Visual servoing without Jacobian using modified simplex optimization

Kanako Miura, Koichi Hashimoto, Jacques Gangloff, Michel De Mathelin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated. The displacements of the robot are generated in real time in order to minimize an objective function using a simplex method and a Newton-like method. Our method allows for the inclusion of constraints in the image as well as in joint-space. On-line image Jacobian estimation runs at the same time, and is used to accelerate convergence near the target. We successfully validate this method with simulations under the graphic library OpenGL, and practical experiment with industrial manipulators.

Original languageEnglish
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages3504-3509
Number of pages6
DOIs
Publication statusPublished - 2005 Dec 1
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: 2005 Apr 182005 Apr 22

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period05/4/1805/4/22

Keywords

  • Model-less visual servoing
  • Optimization
  • Uncalibrated visual servoing
  • Visual servoing

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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