Improved Stability Results for Visual Tracking of Robotic Manipulators Based on the Depth-Independent Interaction Matrix

• Published in: IEEE transactions on robotics Vol. 27; no. 2; pp. 371 - 379
• Main Authors: Liang, Xinwu, Huang, Xinhan, Wang, Min, Zeng, Xiangjin
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.04.2011; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive robot control; Applied sciences; Artificial intelligence; Asymptotic methods; Asymptotic properties; Asymptotic stability; Cameras; Computer science; control theory; systems; Control system synthesis; Control theory. Systems; depth-independent interaction matrix; Design engineering; Drives; Exact sciences and technology; Linkage mechanisms, cams; Manipulators; Mathematical analysis; Matrix; Mechanical engineering. Machine design; Pattern recognition. Digital image processing. Computational geometry; Robot arms; Robot kinematics; Robot vision systems; Robotics; Robots; Simulation; Stability analysis; uncalibrated camera; Vectors (mathematics); visual tracking; Target tracking; Planar mechanism; dynamic control; visual tracking; Control synthesis; Tracking task; Visual servoing; Adaptive control; Robotics; depth-independent interaction matrix; Manipulator; Asymptotic stability; Linkage mechanism; uncalibrated camera; State dependence; Adaptive robot control; Output feedback; Visual control

As we know, the dynamic visual-tracking control, which is based on the depth-independent interaction matrix, has been proposed to cope with the general 3-D motion of robot manipulators. To deal with the unknown camera parameters, an adaptive law has been designed. It is noted, however, that the desi...