Visual tracking control for an uncalibrated robot system with unknown camera parameters |
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Authors: | Changchun Hua Yaoqing Wang Xinping Guan |
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Affiliation: | 1. Institute of Electrical Engineering, Yanshan University, Qinhuangdao City 066004, China;2. Department of Automation, Shanghai Jiao Tong University, Shanghai 200030, China |
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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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Keywords: | Uncalibrated robot Uncertain camera parameter Adaptive control Sliding mode control Filter |
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