Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 6, Issue 3, Pages 322-337Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/3516.951370
Keywords
adaptive control; robot manipulators; visual servoing
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This paper considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of parametric uncertainty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for parametric uncertainty throughout the entire robot-camera system while producing global asymptotic position tracking. Experimental results illustrating the viability of the adaptive controllers and extensions regarding robust control and redundant robot manipulators are also included.
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