Dept. of Automation and Computer Aided Engineering
Faculty of Engineering
The Chinese University of Hong Kong
Montag, 05.03.2001, 11 Uhr s.t., Raum D6-135
To implement a position-based visual feedback controller
for a manipulator, it is necessary to calibrate the homogeneous
transformation matrix between its base frame and the vision frame besides
intrinsic parameters of the vision system. The accuracy of such a calibration
greatly affects the control performance. Substantial efforts must be
made to obtain a highly accurate transformation matrix.
In this talk, I will introduce an adaptive visual feedback controller
for manipulators when the homogeneous transformation matrix is not calibrated.
It is assumed that the vision system can measure the 3D position and
orientation of the manipulator in real-time. Based on
an important observation that the unknown transformation
matrix can be separated from the visual Jacobian matrix, we propose an
adaptive algorithm, similar to the model-based adaptive algorithm,
to estimate the unknown matrix on-line. The use of the proposed visual
feedback controller greatly simplifies the implementation of
a manipulator-vision workcell. This controller is especially useful
when a pre-calibration is not possible, such as
when a manipulator works with an active vision system carried by
a mobile robot. It is proved by Lyapunov approach that the
motion of the manipulator approaches asymptotically to the desired
trajectory. Experimental results are presented to demonstrate
performance of this adaptive visual feedback controller.