QQ客服 官方微博 反馈留言

	Dynamic Jacobian identification based on state-space for robot manipulation
	Zhong, Xun Gao ; Peng, Xia Fu ; Zhong, Xun Yu ; Lin, Li Xiong ; Peng XF(彭侠夫) ; Zhong XY(仲训昱)
	2014
关键词	Calibration Kalman filters Sensors Visual communication Visual servoing
英文摘要	Conference Name:2013 2nd International Conference on Sensors, Measurement and lntelligent Materials, ICSMIM 2013. Conference Address: Guangzhou, China. Time:November 16, 2013 - November 17, 2013.; This paper focused on the dynamic Jcobian identification for robot visual feedback control in unstructured environments, there is the robotic manipulator without kinematics model, and the camera without calibration. First, a visual servoing scheme based on Kalman filtering (KF) to model-independent robotic manipulation is proposed. The Jacobian identification were solved by formatted as state estimation problems, the desired Jacobian is optimal estimated under minimumvariance condition to achieves robotic precise converge to the desired pose. Our method, without requiring modeling parameters, thus this avoids the corrupted performances cause by calibration errors. To demonstrate the performance of proposed scheme, the experimental results have been presented using eye-in-hand configurations. ? (2014) Trans Tech Publications, Switzerland.
语种	英语
出处	http://dx.doi.org/10.4028/www.scientific.net/AMM.475-476.675
出版者	TRANS TECH PUBLICATIONS LTD
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/86905]
专题	信息技术－会议论文
推荐引用方式 GB/T 7714	Zhong, Xun Gao,Peng, Xia Fu,Zhong, Xun Yu,et al. Dynamic Jacobian identification based on state-space for robot manipulation. 2014-01-01.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。