Title :
Stable adaptive visual servoing for moving targets
Author :
Hsu, Liu ; Costa, Ramon R. ; Aquino, Paulo L S
Author_Institution :
Dept. of Electr. Eng., COPPE/Universidad Federal do Rio de Janeiro, Brazil
Abstract :
A stable visual servoing adaptive control algorithm for a planar robot manipulator based on a monocular and fixed camera is proposed. The controller allows the asymptotic tracking of a moving target under uncertain knowledge of the robot/camera parameters
Keywords :
adaptive control; manipulators; robot vision; servomechanisms; stability; target tracking; uncertain systems; asymptotic tracking; camera parameter uncertainty; monocular fixed camera; moving targets; planar robot manipulator; robot parameter uncertainty; stable visual servoing adaptive control algorithm; Adaptive control; Calibration; Cameras; Jacobian matrices; Programmable control; Robot control; Robot kinematics; Robot vision systems; Servomechanisms; Visual servoing;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.879553
