DocumentCode
359083
Title
Stable adaptive visual servoing for moving targets
Author
Hsu, Liu ; Costa, Ramon R. ; Aquino, Paulo L S
Author_Institution
Dept. of Electr. Eng., COPPE/Universidad Federal do Rio de Janeiro, Brazil
Volume
3
fYear
2000
fDate
2000
Firstpage
2008
Abstract
A stable visual servoing adaptive control algorithm for a planar robot manipulator based on a monocular and fixed camera is proposed. The controller allows the asymptotic tracking of a moving target under uncertain knowledge of the robot/camera parameters
Keywords
adaptive control; manipulators; robot vision; servomechanisms; stability; target tracking; uncertain systems; asymptotic tracking; camera parameter uncertainty; monocular fixed camera; moving targets; planar robot manipulator; robot parameter uncertainty; stable visual servoing adaptive control algorithm; Adaptive control; Calibration; Cameras; Jacobian matrices; Programmable control; Robot control; Robot kinematics; Robot vision systems; Servomechanisms; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.879553
Filename
879553
Link To Document