Robot visual servoing with iterative learning control |
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Authors: | Jiang P Unbehauen R |
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Affiliation: | Dept. of Inf. & Control Eng., Tongji Univ., Shanghai; |
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Abstract: | This paper presents an iterative learning scheme for vision-guided robot trajectory tracking. First, a stability criterion for designing iterative learning controller is proposed. It can be used for a system with initial resetting error. By using the criterion, one can convert the design problem into finding a positive definite discrete matrix kernel and a more general form of learning control can be obtained. Then, a three-dimensional (3D) trajectory tracking system with a single static camera to realize robot movement imitation is presented based on this criterion. |
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