—In this paper, a model free uncalibrated visualservoing algorithm based on recursive least squares isproposed and discussed in depth. No robot kinetics ordynamics, camera calibration or target model to be trackedwould be ever needed. Based on the brief retrospection ofRLS filter as well as its theoretical analysis, i.e. Wiener-Hopfcondition, the core uncalibrated visual servoing algorithmbased on recursive least squares is explored in detail. Theexperimental results of both static and moving targetsapplied on a Puma-560 6DOFs industrial robot simulationverifies its performances.
展开▼
