期刊
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
卷 17, 期 2, 页码 208-214出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/70.928567
关键词
controllability; experimental results; nonlinear depth adaptation; nonlinear visual model; stability analysis
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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