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Vision-based nonlinear tracking controllers with uncertain robot-camera parameters

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4 Author(s)
E. Zergeroglu ; Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA ; D. M. Dawson ; M. S. de Queiroz ; A. Behal

This paper considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of parametric uncertainty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for parametric uncertainty throughout the entire robot-camera system while producing global asymptotic position tracking. Extensions regarding robust control and redundant robot manipulators are also included

Published in:

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

Date of Conference: