Journal
AUTOMATICA
Volume 46, Issue 7, Pages 1228-1233Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2010.04.009
Keywords
Vision based control; Adaptive Jacobian control; Uncertain depth; Nonlinear parameterizable term
Ask authors/readers for more resources
This paper presents a simple vision based setpoint controller with adaptation to uncertainty in depth information. Depth uncertainty plays a special role in vision based control as it appears nonlinearly in the overall Jacobian matrix and hence cannot be adapted together with other uncertain kinematic parameters. We propose a novel parameter update law to update the uncertain parameters of the depth. It is proved that system stability can be guaranteed for the vision regulation task in presence of uncertainties in depth information, robot kinematics and dynamics. Simulation results are presented to illustrate the performance of the proposed controller. (C) 2010 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available