Referenced Items are not available for this document.
In this paper, a novel adaptive visual feedback scheme is presented to solve the problem of controlling the relative pose between a robot camera and a rigid object of interest. By exploiting nonlinear controllability properties, uniform asymptotic stability in the large of the image reference set-point is proved using Lyapunov's direct method. Moreover, uniform boundedness of the whole state vector is ensured by using an adaptive nonlinear control scheme, in case of unknown object depth. Experimental results with a six-degree-of-freedom robot manipulator endowed with a camera on its wrist validate the framework
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:17
,
Issue:
2
)
Date of Publication: Apr 2001
- Page(s):
- 208 - 214
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 6968918
- Digital Object Identifier :
- 10.1109/70.928567
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 August 2002
- Issue Date :
- Apr 2001
- Sponsored by :
- IEEE Robotics and Automation Society
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
