U-016

A Dynamic Jacobian Estimation Method for Uncalibrated Visual Servoing

Authors: Jenelle A. Piepmeier, Gary V. McMurray, Harvey Lipkin
Affiliation: JAP: School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA/U.S. Naval Academy, Annapolis, MD.)
GVM: Georgia Tech Research Institute, Atlanta, GA
HL: School of Mechanical Engineering, Georgia Institute of Technology,Atlanta, GA

Abstract
A dynamic Broyden's method is presented for use in a quasi-Newton control scheme for model-independent vision guided robotic control. Model independent visual servo control is defined as using visual feedback to control a robot without precisely calibrated kinematic and camera models. The control problem is formulated as a nonlinear least squares optimization. For the moving target case, this results in a time-varying objective function which is minimized using a dynamic Newton's method. The dynamic Jacobian estimation scheme is used to estimate the combined robot and image Jacobians. Experimental results for a two-degree-of-freedom system demonstrates the success of the algorithm.

Jenelle Piepmeier
gt7548d@prism.gatech.edu