Journal
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume 17, Issue 2, Pages 208-214Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/70.928567
Keywords
controllability; experimental results; nonlinear depth adaptation; nonlinear visual model; stability analysis
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In this paper, a novel adaptive visual feedback scheme is presented to solve the problem of controlling the relative pose between a robot camera and a rigid object of interest. By exploiting nonlinear controllability properties, uniform asymptotic stability in the large of the image reference set-point is proved using Lyapunov's direct method. Moreover, uniform boundedness or the whole state vector is ensured by using an adaptive nonlinear control scheme, in case of unknown object depth, Experimental results with a six-degree-of-freedom robot manipulator endowed with a camera on its wrist validate the framework.
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