Title :
Vision-based nonlinear tracking controllers with uncertain robot-camera parameters
Author :
Zergeroglu, E. ; Dawson, D.M. ; de Queiroz, M.S. ; Behal, A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
This paper considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of parametric uncertainty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for parametric uncertainty throughout the entire robot-camera system while producing global asymptotic position tracking. Extensions regarding robust control and redundant robot manipulators are also included
Keywords :
adaptive control; asymptotic stability; position control; redundant manipulators; robot vision; robust control; tracking; adaptive control; asymptotic stability; camera calibration; nonlinear control system; position control; redundant manipulators; tracking; visual servoing; Adaptive control; Cameras; Control systems; Manipulator dynamics; Nonlinear dynamical systems; Programmable control; Robot control; Robot vision systems; Uncertainty; Visual servoing;
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
DOI :
10.1109/AIM.1999.803284