Visual tracking control for an uncalibrated robot system with unknown camera parameters

被引：16

作者：

Hua, Changchun ^{[1
]}

Wang, Yaoqing ^{[1
]}

Guan, Xinping ^{[1
,2
]}

机构：

[1] Yanshan Univ, Inst Elect Engn, Qinhuangdao 066004, Peoples R China

[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200030, Peoples R China

来源：

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING | 2014年 / 30卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Uncalibrated robot; Uncertain camera parameter; Adaptive control; Sliding mode control; Filter; SLIDING-MODE CONTROL;

D O I：

10.1016/j.rcim.2013.06.002

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

The robust trajectory tracking problem for an eye-in-hand system is addressed in this paper. A novel visual feedback control model is proposed. It considers not only the uncertainties and disturbances in the robot model, but also the unknown camera parameters. By using sliding mode control, filter method and adaptive technique, the controller is designed such that the robot can track the desired trajectory well by using information provided by camera. Finally, stability and robustness are rigorously proved by using Lyapunov method. Computer simulations are presented to show the effectiveness of the proposed visual feedback controller. (C) 2013 Elsevier Ltd. All rights reserved.

引用

页码：19 / 24

页数：6

共 30 条

[1] Vision-based adaptive tracking control of uncertain robot manipulators [J].

Akella, MR .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (04) :748-753

[2] Visual control with adaptive dynamical compensation for 3D target tracking by mobile manipulators [J].

Andaluz, Victor ;

Carelli, Ricardo ;

Salinas, Lucio ;

Marcos Toibero, Juan ;

Roberti, Flavio .

MECHATRONICS, 2012, 22 (04) :491-502

[3] A SURVEY OF MODELS, ANALYSIS TOOLS AND COMPENSATION METHODS FOR THE CONTROL OF MACHINES WITH FRICTION [J].

ARMSTRONGHELOUVRY, B ;

DUPONT, P ;

DEWIT, CC .

AUTOMATICA, 1994, 30 (07) :1083-1138

[4] Two solutions to the adaptive visual servoing problem [J].

Astolfi, A ;

Hsu, L ;

Netto, MS ;

Ortega, R .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (03) :387-392

[5]

Chang YH, 2012, INT J INNOV COMPUT I, V8, P4851

[6] Viosual servo control - Part I: Basic approaches [J].

Chaumette, Francois ;

Hutchinson, Seth .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2006, 13 (04) :82-90

[7] Vision-based control for rigid body stabilization [J].

Cunha, Rita ;

Silvestre, Carlos ;

Hespanha, Joao ;

Pedro Aguiar, A. .

AUTOMATICA, 2011, 47 (05) :1020-1027

[8] A exponential class of model-free visual servoing controllers in the presence of uncertain camera calibration [J].

Fang, Y ;

Dixon, WE ;

Dawson, DM ;

Chen, J .

42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, :5390-5395

[9]

Fei JT, 2012, INT J INNOV COMPUT I, V8, P691

[10] Distance-Based and Orientation-Based Visual Servoing From Three Points [J].

Fomena, Romeo Tatsambon ;

Tahri, Omar ;

Chaumette, Francois .

IEEE TRANSACTIONS ON ROBOTICS, 2011, 27 (02) :256-267

← 1 2 3 →