Versatile visual servoing without knowledge of true Jacobian

Hosoda, Koh; Asada, Minoru

doi:10.1109/iros.1994.407392

Cited by 298 publications

(195 citation statements)

References 12 publications

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“…But in the real environment, the image jacobian is generally unknown. To make the system adaptive to environments, we have to think out the estimator of the image jacobian [12].…”

Section: Resultsmentioning

confidence: 99%

Visual Servoing Utilizing Zoom Mechanism.

Hosoda

Moriyama

Asada

1998

Journal of the Robotics Society of Japan

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“…But in the real environment, the image jacobian is generally unknown. To make the system adaptive to environments, we have to think out the estimator of the image jacobian [12].…”

Section: Resultsmentioning

confidence: 99%

Visual Servoing Utilizing Zoom Mechanism.

Hosoda

Moriyama

Asada

1998

Journal of the Robotics Society of Japan

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“…move along a line in 3 DOF) we have found that almost any controller based on the Newton method will work [15,16]. There are also many accounts of success in practical application for low DOF manipulation in the literature [4,21,2,11]. Robot arm control is also fairly insensitive to somewhat ill conditioned visual measurements, such as caused by bad camera placement, and the particular choice of visual features to track.…”

Section: Discussionmentioning

confidence: 99%

“…Visual servoing, when supplemented with online visual model estimation, fits into the active vision paradigm. Results with visual servoing and varying degrees of model adaption have been presented for robot arms [23,4,21,15,16,13,2,11] 2 . Visual models suitable for specifying visual alignments have also been studied [9,1,10], but it remains to be proven that the approach works on more complex manipulators than the serial link robot arm.…”

Section: Introductionmentioning

confidence: 99%

Acquiring visual-motor models for precision manipulation with robot hands

Jägersand

Fuentes

Nelson

1996

Lecture Notes in Computer Science

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Abstract. Dextrous high degree of freedom (DOF) robotic hands provide versatile motions for fine manipulation of potentially very different objects. However, fine manipulation of an object grasped by a multifinger hand is much more complex than if the object is rigidly attached to a robot arm. Creating an accurate model is difficult if not impossible. We instead propose a combination of two techniques: the use of an approximate estimated motor model, based on the grasp tetrahedron acquired when grasping an object, and the use of visual feedback to achieve accurate fine manipulation. We present a novel active vision based algorithm for visual servoing, capable of learning the manipulator kinematics and camera calibration online while executing a manipulation task. The approach differs from previous work in that a full, coupled image Jacobian is estimated online without prior models, and that a trust region control method is used, improving stability and convergence. We present an extensive experimental evaluation of visual model acquisition and visual servoing in 3, 4 and 6 DOF.

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“…An alternative is online estimation of the J matrix using iterative methods such as Broyden's method or recursive nonlinear least squares estimation. Such uncalibrated adaptive methods have been successfully implemented in macro-scale manipulators and mobile robots for a variety of applications with more complex nonlinear system models and higher degrees of freedoms (DOF) [23][24][25]. Experimental results in [20] and [26] show that the J matrix (the relationship between actuation and device velocities) is relatively linear for the experimental system used in this paper.…”

Section: Electromagnetic Actuation For Microrobotic Controlmentioning

confidence: 96%

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

2014

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Abstract:Microrobots have a number of potential applications for micromanipulation and assembly, but also offer challenges in power and control. This paper describes an uncalibrated vision-based control system for magnetically actuated microrobots operating untethered at the interface between two immiscible fluids. The microrobots are 20 μm thick and approximately 100-200 μm in lateral dimension. Several different robot shapes are investigated. The robots and fluid are in a 20 × 20 × 15 mm vial placed at the center of four electromagnets. Pulse width modulation of the electromagnet currents is used to control robot speed and direction. Given a desired position, a controller based on recursive least square estimation drives the microrobot to the goal without a priori knowledge of system parameters such as drag coefficients or intrinsic and extrinsic camera parameters. Results are verified experimentally using a variety of microrobot shapes and system configurations.

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Versatile visual servoing without knowledge of true Jacobian

Cited by 298 publications

References 12 publications

Visual Servoing Utilizing Zoom Mechanism.

Visual Servoing Utilizing Zoom Mechanism.

Acquiring visual-motor models for precision manipulation with robot hands

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

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