Journal
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
Volume 18, Issue 6, Pages 1359-1370Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2010.2041457
Keywords
Adaptive control; tracking control; visual servoing; visual velocity
Funding
- Hong Kong Research Grants Council [414406, 414707]
- Natural Science Foundation of China [60334010, 60475029, 60775062, 60934006]
- National High Technology Research and Development Program of China [2006AA040203]
- Program for New Century Excellent Talents in University [NCET-07-0538]
- State Key Laboratory of Robotics and Systems of Harbin Institute of Technology
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This paper presents a new adaptive controller for image-based tracking of a robot manipulator without using visual velocity when the intrinsic and extrinsic parameters of the camera are not calibrated. Most of existing controllers require the measurement of the visual velocity, which is subject to big noises in general due to low sampling rates of the vision loop. To avoid performance decaying caused by measurement errors of the visual velocity we propose a new image-based tracking controller based on the proposal of an estimator of visual velocity. With a full consideration of dynamic responses of the robot manipulator, we proved the convergence of the image errors of the trajectory to zero and the convergence of the estimated parameters to the real values up to a scale by the Lyapunov method. Experiments have been conducted to demonstrate good convergence of the trajectory errors under the control of the proposed method.
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