JOURNAL OF COMPUTERS (JCP)
ISSN : 1796-203X
Volume : 3    Issue : 11    Date : November 2008

Model-Free Uncalibrated Visual Servoing Using Recursive Least Squares
Miao Hao, Peter Deuflhard, Zengqi Sun, and Masakazu Fujii
Page(s): 42-50
Full Text:
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Abstract
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.

Index Terms
Visual Servoing, Jacobian Estimate, Nonlinear Control, Adaptive RLS