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Adaptive sliding mode uncalibrated visual servoing for finite-time tracking of 2D robot

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3 Author(s)
Parra-Vega, V. ; Mechatronics Div., CINVESTAV, Mexico City, Mexico ; Fierro-Rojas, J.D. ; Espinosa-Romero, A.

A globally convergent visual feedback control scheme is proposed for the dynamic model of uncertain planar robot manipulators with uncalibrated camera. Additionally, a time-varying feedback gain induces a terminal attractor in the visual error manifold to guarantee finite-time convergence of image-based tracking errors. Simulations results of a two degrees-of-freedom manipulator with uncalibrated CCD camera are presented to illustrate the dynamic closed-loop performance.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003