Adaptive sliding mode uncalibrated visual servoing for finite-time tracking of 2D robot

Author

Parra-Vega, V. ; Fierro-Rojas, J.D. ; Espinosa-Romero, A.

Author_Institution

Mechatronics Div., CINVESTAV, Mexico City, Mexico

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3048

Abstract

A globally convergent visual feedback control scheme is proposed for the dynamic model of uncertain planar robot manipulators with uncalibrated camera. Additionally, a time-varying feedback gain induces a terminal attractor in the visual error manifold to guarantee finite-time convergence of image-based tracking errors. Simulations results of a two degrees-of-freedom manipulator with uncalibrated CCD camera are presented to illustrate the dynamic closed-loop performance.

Keywords

CCD image sensors; adaptive control; closed loop systems; convergence; manipulator dynamics; manipulator kinematics; robot vision; tracking; variable structure systems; adaptive control; charge coupled devices; closed loop performance; finite time convergence; finite time tracking; image based tracking errors; planar robot manipulators; sliding mode control; time-varying feedback gain; two degrees of freedom manipulator; uncalibrated CCD camera; uncalibrated visual servoing; visual error manifold; visual feedback control; Adaptive control; Cameras; Convergence; Jacobian matrices; Kinematics; Manipulator dynamics; Robot vision systems; Sliding mode control; Transmission line matrix methods; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242059

Filename

1242059