Adaptive servo visual robot control

被引：42
作者：
Nasisi, O [1 ]
Carelli, R [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat, RA-5400 San Juan, Argentina
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2003年 / 43卷 / 01期
关键词：
visual motion; robots; tracking systems; non-linear control systems; adaptive control;
D O I：
10.1016/S0921-8890(02)00370-6
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective in the image coordinate system. Simulations are carried out to evaluate the controller performance. Also, discretization and measurement effects are considered in simulations. (C) 2003 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：51 / 78
页数：28
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