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Experimental Evaluation of Uncalibrated Visual Serving for Precision Manipulation |
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@InProceedings{Jagersand:97,
author = {Martin Jagersand, Olac Fuentes, and Randal C. Nelson},
title = {Experimental Evaluation of Uncalibrated Visual Serving for Precision Manipulation},
booktitle = {Proc. of International Conference on Robotics and Automation}
year = {1997},
address = {Albuquerque},
month = {April},
abstract = { In this paper we present an experimental evaluation of
adaptive and nonadaptive visual servoing in 3, 6 and 12
degrees of freedom (DOF), comparing it to traditional joint
feedback control. While the purpose of experiments in most
other work has been to show that the particular algorithm
presented indeed also works in practice, we do not focus on
the algorithm, but rather on properties important to visual
servoing in general. Our main results are: positioning of a
6 axis PUMA 762 arm is up to 5 times more precise under
visual control, than under joint control. Positioning of a
Utah/MIT dextrous hand is better under visual control than
under joint control by a factor of 2. We also found that
a trustregionbased adaptive visual feedback controller is
very robust. For m tracked visual features the algorithm
can successfully estimate online the m \Theta 3 (m 3) image
Jacobian (J) without any prior information, while carrying
out a 3 DOF manipulation task. For 6 and higher DOF
manipulation, a rough initial estimate of J is beneficial. We
also verified that redundant visual information is valuable.
Errors due to imprecise tracking and goal specification were
reduced as the number of visual features, m, was increased.
Furthermore highly redundant systems allow us to detect
outliers in the feature vector, and deal with partial occlu
sion. }
}