Journal
IFAC PAPERSONLINE
Volume 53, Issue 2, Pages 3815-3820Publisher
ELSEVIER
DOI: 10.1016/j.ifacol.2020.12.2073
Keywords
Adaptive Control; Passivity-based control; Tracking; Visual Servoing; Cascade Control
Categories
Funding
- CNPq/Brazil
- Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior - Brasil (CAPES) [001]
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In this work, it is considered an image based visual servoing control problem, for uncertain robot manipulators. Visual feedback is provided by a fixed monocular camera with uncertain parameters, for the purpose of tracking translational trajectories of a spherical target, both the trajectory on image plane and depth. Based on a cascade structure, the proposed adaptive visual servoing is combined with an adaptive motion control strategy. Stability and passivity properties are analyzed with the Lyapunov method. Simulation results illustrate and highlight performance of the proposed controller. Copyright (C) 2020 The Authors.
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