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JCP
2008

Model-Free Uncalibrated Visual Servoing Using Recursive Least Squares

13 years 11 months ago
Model-Free Uncalibrated Visual Servoing Using Recursive Least Squares
In this paper, a model free uncalibrated visual servoing algorithm based on recursive least squares is proposed and discussed in depth. No robot kinetics or dynamics, camera calibration or target model to be tracked would be ever needed. Based on the brief retrospection of RLS filter as well as its theoretical analysis, i.e. Wiener-Hopf condition, the core uncalibrated visual servoing algorithm based on recursive least squares is explored in detail. The experimental results of both static and moving targets applied on a Puma-560 6DOFs industrial robot simulation verifies its performances.
Miao Hao, Peter Deuflhard, Zengqi Sun, Masakazu Fu
Added 13 Dec 2010
Updated 13 Dec 2010
Type Journal
Year 2008
Where JCP
Authors Miao Hao, Peter Deuflhard, Zengqi Sun, Masakazu Fujii
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