Vision-based nonlinear tracking controllers with uncertain robot-camera parameters

• Published in: IEEE/ASME transactions on mechatronics Vol. 6; no. 3; pp. 322 - 337
• Main Authors: Zergeroglu, E., Dawson, D.M., de Querioz, M.S., Behal, A.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.09.2001; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptative systems; Adaptive control; Adaptive control systems; Applied sciences; Asymptotic properties; Cameras; Computer science; control theory; systems; Computer vision; Control systems; Control theory. Systems; Controllers; Dynamical systems; Exact sciences and technology; Manipulator dynamics; Manipulators; Nonlinear dynamical systems; Programmable control; Robot control; Robot vision systems; Robotics; Robots; Tracking; Tracking (position); Uncertainty; Visual servoing; Target tracking; Uncertain system; Planar mechanism; Position control; Visual servoing; Calibration; Adaptive control; Modeling; Robotics; Manipulator
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/3516.951370

This paper considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of parametric uncertainty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for parametric uncertainty throughout the entire robot-camera system while producing global asymptotic position tracking. Experimental results illustrating the viability of the adaptive controllers and extensions regarding robust control and redundant robot manipulators are also included.