Adaptive visual servo regulation control for camera-in-hand configuration with a fixed camera extension
Makaleler > Tam Makale · 2009
Yazarlar: Enver TATLICIOĞLU, D. M. Dawson, B. Xian
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, SCI Expanded İndekslerine Giren Dergi, Uluslararası, Scopus, 2009, cilt 24, ss 346-355
DOI: 10.2316/Journal.206.2009.4.206-3245
Özet
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.