Title :
Robust vision based 3D trajectory tracking using sliding mode control
Author :
Zanne, P. ; Morel, G. ; Piestan, F.
Author_Institution :
Univ. Louis Pasteur, Strasbourg, France
Abstract :
We use sliding mode control theory to design a 3D vision based controller that is robust to bounded parametric estimation errors. First, a model of an eye-in-hand robotic system is derived and sources of uncertainties are listed. Additionally, bounds on the different uncertainties are discussed and their influence on the overall gain of the system is derived. Due to an appropriate selection of the sliding surface, based on the quaternion representation for rotations, a switching controller is proposed. Six degrees of freedom vision based tracking experiments under weak calibration conditions emphasize the practical efficiency of the algorithm
Keywords :
optical tracking; robot vision; stereo image processing; variable structure systems; 3D trajectory tracking; 3D vision; eye-in-hand robotic system; robot vision; sliding mode control; sliding surface; switching controller; Cameras; Control systems; Quaternions; Robot vision systems; Robust control; Robustness; Sliding mode control; Trajectory; Uncertainty; Visual servoing;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846337