ADAPTIVE VISUAL SERVO REGULATION CONTROL FOR CAMERA-IN-HAND CONFIGURATION WITH A FIXED CAMERA EXTENSION


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

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, vol.24, no.4, pp.346-355, 2009 (Journal Indexed in SCI) identifier

  • Publication Type: Article / Article
  • Volume: 24 Issue: 4
  • Publication Date: 2009
  • Title of Journal : INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
  • Page Numbers: pp.346-355

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.