ADAPTIVE VISUAL SERVO REGULATION CONTROL FOR CAMERA-IN-HAND CONFIGURATION WITH A FIXED CAMERA EXTENSION
Articles > Article · 2009
Authors: Enver TATLICIOĞLU, D. M. Dawson, B. Xian
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, Journal Indexed in SCI Expanded, International, 2009, vol 24, pp 346-355
Summary
In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.