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Visual tracking control for an uncalibrated robot system with unknown camera parameters

Authors
Journal
Robotics and Computer-Integrated Manufacturing
0736-5845
Publisher
Elsevier
Volume
30
Issue
1
Identifiers
DOI: 10.1016/j.rcim.2013.06.002
Keywords
  • Uncalibrated Robot
  • Uncertain Camera Parameter
  • Adaptive Control
  • Sliding Mode Control
  • Filter
Disciplines
  • Design

Abstract

Abstract The robust trajectory tracking problem for an eye-in-hand system is addressed in this paper. A novel visual feedback control model is proposed. It considers not only the uncertainties and disturbances in the robot model, but also the unknown camera parameters. By using sliding mode control, filter method and adaptive technique, the controller is designed such that the robot can track the desired trajectory well by using information provided by camera. Finally, stability and robustness are rigorously proved by using Lyapunov method. Computer simulations are presented to show the effectiveness of the proposed visual feedback controller.

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