Title :
Adaptive visual servo control of robot manipulators via composite camera inputs
Author :
T. Sahin;E. Zergeroglu
Author_Institution :
Dept. of Comput. Eng., Gebze Inst. of Technol., Turkey
fDate :
6/27/1905 12:00:00 AM
Abstract :
This paper considers the problem of position control of robot manipulators via visual servoing in the presence of uncertainty associated with the robot dynamics and the vision system. Specifically, an adaptive controller is designed to compensate for the uncertainties associated with the mechanical parameters of the robot manipulator and the intrinsic parameters of the cameras. The 3D visual inclination is obtained from the composite inputs of two separate cameras placed in the robot work space. Despite the uncertainties associated with the camera system and robot dynamics the proposed adaptive controller achieves asymptotic end effector position tracking. A Lyapunov based approach is presented to prove the stability and boundedness of the closed loop system.
Keywords :
"Programmable control","Adaptive control","Servosystems","Robot vision systems","Cameras","Manipulator dynamics","Uncertainty","Orbital robotics","Position control","Visual servoing"
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo ´05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201427