Visual servoing without Jacobian using modified simplex optimization

Kanako Miura; Koichi Hashimoto; Jacques Gangloff; Michel De Mathelin

doi:10.1109/ROBOT.2005.1570652

Visual servoing without Jacobian using modified simplex optimization

Kanako Miura, Koichi Hashimoto, Jacques Gangloff, Michel De Mathelin

INF - System Information Sciences

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Citations (Scopus)

Abstract

In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated. The displacements of the robot are generated in real time in order to minimize an objective function using a simplex method and a Newton-like method. Our method allows for the inclusion of constraints in the image as well as in joint-space. On-line image Jacobian estimation runs at the same time, and is used to accelerate convergence near the target. We successfully validate this method with simulations under the graphic library OpenGL, and practical experiment with industrial manipulators.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	3504-3509
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570652
Publication status	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

Model-less visual servoing
Optimization
Uncalibrated visual servoing
Visual servoing

Access to Document

10.1109/ROBOT.2005.1570652

Cite this

Miura, K., Hashimoto, K., Gangloff, J., & De Mathelin, M. (2005). Visual servoing without Jacobian using modified simplex optimization. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 3504-3509). Article 1570652 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570652

@inproceedings{250036d31abc459b832c9ab8a3682246,

title = "Visual servoing without Jacobian using modified simplex optimization",

abstract = "In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated. The displacements of the robot are generated in real time in order to minimize an objective function using a simplex method and a Newton-like method. Our method allows for the inclusion of constraints in the image as well as in joint-space. On-line image Jacobian estimation runs at the same time, and is used to accelerate convergence near the target. We successfully validate this method with simulations under the graphic library OpenGL, and practical experiment with industrial manipulators.",

keywords = "Model-less visual servoing, Optimization, Uncalibrated visual servoing, Visual servoing",

author = "Kanako Miura and Koichi Hashimoto and Jacques Gangloff and {De Mathelin}, Michel",

year = "2005",

doi = "10.1109/ROBOT.2005.1570652",

language = "English",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3504--3509",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

}

Miura, K, Hashimoto, K, Gangloff, J & De Mathelin, M 2005, Visual servoing without Jacobian using modified simplex optimization. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570652, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 3504-3509, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570652

Visual servoing without Jacobian using modified simplex optimization. / Miura, Kanako; Hashimoto, Koichi; Gangloff, Jacques et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 3504-3509 1570652 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Visual servoing without Jacobian using modified simplex optimization

AU - Miura, Kanako

AU - Hashimoto, Koichi

AU - Gangloff, Jacques

AU - De Mathelin, Michel

PY - 2005

Y1 - 2005

N2 - In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated. The displacements of the robot are generated in real time in order to minimize an objective function using a simplex method and a Newton-like method. Our method allows for the inclusion of constraints in the image as well as in joint-space. On-line image Jacobian estimation runs at the same time, and is used to accelerate convergence near the target. We successfully validate this method with simulations under the graphic library OpenGL, and practical experiment with industrial manipulators.

AB - In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated. The displacements of the robot are generated in real time in order to minimize an objective function using a simplex method and a Newton-like method. Our method allows for the inclusion of constraints in the image as well as in joint-space. On-line image Jacobian estimation runs at the same time, and is used to accelerate convergence near the target. We successfully validate this method with simulations under the graphic library OpenGL, and practical experiment with industrial manipulators.

KW - Model-less visual servoing

KW - Optimization

KW - Uncalibrated visual servoing

KW - Visual servoing

UR - http://www.scopus.com/inward/record.url?scp=33846183786&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33846183786&partnerID=8YFLogxK

U2 - 10.1109/ROBOT.2005.1570652

DO - 10.1109/ROBOT.2005.1570652

M3 - Conference contribution

AN - SCOPUS:33846183786

SN - 078038914X

SN - 9780780389144

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3504

EP - 3509

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

T2 - 2005 IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -

Visual servoing without Jacobian using modified simplex optimization

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this