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Adaptive Differential Visual Feedback for Uncalibrated Hand-Eye Coordination and Motor Control |
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@TechReport{Jagersand:TR94,
author = {Martin Jagersand and Randal C. Nelson},
title = {Adaptive Differential Visual Feedback for Uncalibrated Hand-Eye Coordination and Motor Control},
institution = {Comp. Sci. Dept. University of Rochester},
year = {1994},
number = {579},
address = {Rochester NY},
month = {December},
abstract = {
We propose and implement a novel method for visual space trajectory planning, and adaptive high degree-of-freedom
(DOF) visual feedback control. The method requires no prior information either about the kinematics of the
manipulator, or the placement or calibration of the cameras, and imposes no limitations on the number of degrees
of freedom controlled or the number of kind of visual features utilized. The approach provides not only a means of
low-level servoing but a means to integrate it with higher level visual space trajectory and task planning. We are
thus able to specify and perform complex tasks composed of several primitive behaviors, using both visual servoing
and open loop control, where the number of sensed and controlled signals varies during the task. We report
experimental results demonstrating a factor of 5 improvement in the repeatability of manipulations using a PUMA
arm when comparing visual closed-loop to traditional joint level servoing. We also present experiment statistics
showing the advantages of adaptive over non-adaptive control systems, and of using redundant visual information
when performing manipulation tasks. Finally, we demonstrate usefulness of the approach by using it to specify and
execute complex tasks involving real-world robot manipulation of rigid and non-rigid objects in up to 12 degrees
of freedom. The manipulation is performed in the context of a semi-autonomous robot manipulation system. }
}