Name
Abstract | ||
|---|---|---|
The objective of the work is to regulate selected features to desired positions on the image plane by controlling motion of a robot manipulator. We assume the system is totally uncalibrated, i.e. both the camera intrinsic parameters and the homogeneous transformation matrix between the robot frame and the vision frame are not calibrated. An adaptive algorithm is proposed to estimate the parameters online. The proposed controller adopts the simple PD plus the gravity compensation scheme with the estimated parameters. A new Lyapunov function is introduced to prove asymptotic convergence of the position errors on the image plane and convergence of the estimated parameters to the real ones up to a scale. Simulations and experiments have been carried out to verify asymptotic stability of the proposed controller |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/ROBIO.2004.1521844 | ROBIO |
Keywords | Field | DocType |
pd control,gravity compensation,motion control,online parameter estimation,uncalibrated environments,asymptotic stability,parameter estimation,uncalibrated environment,adaptive control,visual servoing,lyapunov function,eye-and-hand,eye-in-hand,asymptotic convergence,manipulators,position control,lyapunov methods,robot vision,robot manipulator,image motion analysis | Lyapunov function,Motion control,Control theory,Control theory,Image plane,Control engineering,Exponential stability,Visual servoing,Adaptive algorithm,Adaptive control,Mathematics | Conference |
ISBN | Citations | PageRank |
0-7803-8614-8 | 0 | 0.34 |
References | Authors | |
10 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wang H | 1 | 468 | 63.98 |
| Liu YH | 2 | 1540 | 185.05 |
| kinkwan lam | 3 | 10 | 1.06 |