Title :
Adaptive visual servoing of robots with uncertain gravity regressor and Jacobian matrices
Author :
Yazarel, H. ; Cheah, C.C.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Abstract :
Most research so far in adaptive control of robots has assumed that models of gravity regressor matrix and kinematics are known exactly. To overcome this drawback, we propose in this paper, a vision-based setpoint control law with uncertainties in gravity regressor matrix and kinematics. Sufficient conditions for choosing the feedback gains, gravity regressor and Jacobian matrix are presented to guarantee the stability. Simulation results of a 3-link planar robot manipulator are presented to illustrate the performance of the proposed controller
Keywords :
Jacobian matrices; adaptive control; feedback; robot kinematics; robot vision; servomechanisms; stability criteria; uncertain systems; Jacobian matrices; adaptive control; adaptive visual servoing; gravity regressor matrix; kinematics; robots; stability; uncertain gravity regressor; uncertainties; vision-based setpoint control; Adaptive control; Feedback; Gravity; Jacobian matrices; Kinematics; Robots; Sufficient conditions; Transmission line matrix methods; Uncertainty; Visual servoing;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945621
