An Adaptive Controller for Image-based Visual Servoing of Robot Manipulators

被引：7

作者：

Liu, Yunhui ^{[1
]}

Wang, Hesheng ^{[2
]}

机构：

[1] Chinese Univ Hong Kong, Dept Mech & Automat Engn, Shatin, Hong Kong, Peoples R China

[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

Visual servoing; adaptive control; robot manipulator; TRACKING;

D O I：

10.1109/WCICA.2010.5554505

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new adaptive controller for visual servoing of robot manipulators based on the concept of depth-independent interaction matrix. By mapping the image error onto the joint space using the depth-independent interaction matrix, it is possible to make the unknown 3-D coordinates of the feature points linearly appear in the closed-loop dynamics of the system, so the unknown coordinates can be estimated on-line by an adaptive algorithm. This controller differs from those developed by us previously because a simplified adaptive algorithm is used. The asymptotic stability of the system has been proved by Laypunov theory. Simulations have been conducted to demonstrate performance of this controller.

引用

页码：988 / 993

页数：6

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