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Conference Paper: Static-eye against hand-eye visual servoing

TitleStatic-eye against hand-eye visual servoing
Authors
KeywordsCalibration Error
Position/Image-Based
Static/Hand-Eye
Visual Servoing
Issue Date2002
Citation
Proceedings Of The Ieee Conference On Decision And Control, 2002, v. 3, p. 2854-2859 How to Cite?
AbstractIn this paper, a comparison between static-eye and hand-eye configurations for the point-to-point visual servoing task realized with position-based and image-based control laws is presented. For these four configurations, the effect of uncertainty on intrinsic and extrinsic calibration parameters is investigated. The results show local stability for all configurations with small calibration errors and a steady state error for the hand-eye position-based one. Simulations have been carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of stability region.
Persistent Identifierhttp://hdl.handle.net/10722/158351
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorHashimoto, Ken_US
dc.date.accessioned2012-08-08T08:59:11Z-
dc.date.available2012-08-08T08:59:11Z-
dc.date.issued2002en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 2002, v. 3, p. 2854-2859en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/158351-
dc.description.abstractIn this paper, a comparison between static-eye and hand-eye configurations for the point-to-point visual servoing task realized with position-based and image-based control laws is presented. For these four configurations, the effect of uncertainty on intrinsic and extrinsic calibration parameters is investigated. The results show local stability for all configurations with small calibration errors and a steady state error for the hand-eye position-based one. Simulations have been carried out in order to confirm the theoretical results and evaluate the effects of the uncertainty in terms of stability region.en_US
dc.languageengen_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.subjectCalibration Erroren_US
dc.subjectPosition/Image-Baseden_US
dc.subjectStatic/Hand-Eyeen_US
dc.subjectVisual Servoingen_US
dc.titleStatic-eye against hand-eye visual servoingen_US
dc.typeConference_Paperen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0036996309en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0036996309&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.spage2854en_US
dc.identifier.epage2859en_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridHashimoto, K=35431244800en_US

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