DocumentCode
335441
Title
Adaptive robot control with visual feedback
Author
Carelli, Ricardo ; Nasisi, Oscar ; Kuchen, Benjamin
Author_Institution
Inst. de Automatica, Univ. Nacional de San Juan, San Juan, Argentina
Volume
2
fYear
1994
fDate
29 June-1 July 1994
Firstpage
1757
Abstract
In this paper we propose an adaptive controller for robots with camera-in-hand configuration using visual feedback. The controller is designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamic uncertainties. The control system is proved to asymptotically achieve the position control objective in the image coordinate system. Simulations are carried out to evaluate the controller performance.
Keywords
adaptive control; compensation; feedback; robot vision; adaptive robot control; camera-in-hand configuration; compensation; controller performance; design sensitivity reduction; dynamic uncertainties; image coordinate system; position control; robot dynamics; visual feedback; Adaptive control; Control systems; Feedback; Payloads; Position control; Programmable control; Robot control; Robot kinematics; Robot sensing systems; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.752374
Filename
752374
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