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Abstract In this work, it is considered an image based visual servoing control problem, for uncertain robot manipulators. Visual feedback is provided by a fixed monocular camera with uncertain parameters,… Click to show full abstract
Abstract In this work, it is considered an image based visual servoing control problem, for uncertain robot manipulators. Visual feedback is provided by a fixed monocular camera with uncertain parameters, for the purpose of tracking translational trajectories of a spherical target, both the trajectory on image plane and depth. Based on a cascade structure, the proposed adaptive visual servoing is combined with an adaptive motion control strategy. Stability and passivity properties are analyzed with the Lyapunov method. Simulation results illustrate and highlight performance of the proposed controller.
Journal Title: IFAC-PapersOnLine
Year Published: 2020
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