Adaptive fault-tolerant visual control of uncalibrated eye-to-hand manipulator based on proportional-actuation strategy

被引：0
作者：
Yang, Heng [1 ,2 ]
Yang, Liang [1 ,2 ]
Chen, Yong [2 ]
机构：
[1] Univ Elect Sci & Technol China, Zhongshan Inst, Sch Comp Engn, Zhongshan 528402, Guangdong, Peoples R China
[2] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China
来源：
JOURNAL OF THE FRANKLIN INSTITUTE | 2025年 / 362卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Visual servoing; Robotic manipulator; Redundant actuators; Actuator failures; Proportional-actuation strategy; FAILURE COMPENSATION SCHEME; NONLINEAR-SYSTEMS; TRACKING CONTROL; ROBOTS; IMAGE;
D O I：
10.1016/j.jfranklin.2025.107557
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive actuator failure compensation control scheme is proposed for visual servoing of an eye-to-hand robotic manipulator with redundant actuators at joints, for which a precise calibration of camera is not required. And the stuck-type as well as time-varying actuator failures are considered in control design. Furthermore, a proportional-actuation strategy to accommodate different output capacities of the redundant actuators is newly developed. And a decoupling method is proposed, based on which the unknown actuator failure parameters and camera parameters can be estimated independently. Moreover, a novel framework for stability analysis is given, which enables us to prove the convergence of image errors and the boundedness of all closed-loop signals. Finally, the effectiveness of our scheme is validated by simulation results.
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页数：14
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