Adaptive visual servo regulation control for camera-in-hand configuration with a fixed-camera extension


Tatlicioglu E. , Dawson D. M. , Man B.

46th IEEE Conference on Decision and Control, Louisiana, United States Of America, 12 - 14 December 2007, pp.4611-4613 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2007.4434761
  • City: Louisiana
  • Country: United States Of America
  • Page Numbers: pp.4611-4613

Abstract

In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.