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, Amerika Birleşik Devletleri, 12 - 14 Aralık 2007, ss.4611-4613 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/cdc.2007.4434761
  • Basıldığı Şehir: Louisiana
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.4611-4613

Özet

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.