Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 43, Issue 1, Pages 51-78Publisher
ELSEVIER
DOI: 10.1016/S0921-8890(02)00370-6
Keywords
visual motion; robots; tracking systems; non-linear control systems; adaptive control
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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.
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