Robust visual servo control of robot manipulators with uncertain dynamics and camera parameters

被引：0
|
作者：
Chin-Su Kim
Eun-Jong Mo
Sung-Min Han
Min-Seok Jie
Kang-Woong Lee
机构：
[1] Korea Aerospace University,School of Electronics, Telecommunication and Computer Engineering
[2] Hanseo University,Department of Avionics and Computer Simulation
来源：
International Journal of Control, Automation and Systems | 2010年 / 8卷
关键词：
Jacobian uncertainty; robust control; robot manipulator; visual servoing;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper, an image-based robust controller is designed to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experimental results of a 5-link robot manipulator with two degree of freedom.
引用
收藏
页码：308 / 313
页数：5
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