Adaptive Visual Control of Robotic Manipulator With Uncertainties in Kinematics and Dynamics

In this paper, we develop a novel adaptive scheme for uncalibrated visual feedback systems of robotic manipulators to address the uncertainties in the kinematics and dynamics, which resulted from unknown parameters in the camera and the robotic manipulator's physical model. A mixed estimated me...

Full description

Saved in:
Bibliographic Details
Published in2021 China Automation Congress (CAC) pp. 7232 - 7237
Main Authors Liu, Aoqi, Lai, Guanyu, Liu, Weizhen
Format Conference Proceeding
LanguageEnglish
Published IEEE 22.10.2021
Subjects
Adaptation models
adaptive control
Adaptive systems
Cameras
Kinematics
Robot vision systems
Robotic mainpulator
uncalibrated camera
Uncertainty
visual servoing
Visualization
Online AccessGet full text

Cover

More Information
Summary:In this paper, we develop a novel adaptive scheme for uncalibrated visual feedback systems of robotic manipulators to address the uncertainties in the kinematics and dynamics, which resulted from unknown parameters in the camera and the robotic manipulator's physical model. A mixed estimated method is adopted to parameterize and estimate those unknown parameters in a practical model. To ensure the capability of the introduced controller, we claim novel adaptive algorithms to make the estimated errors of those unknown parameters converge to a small range. Numerical simulations confirm the validity of the presented scheme, whose image tracking error converges asymptotically towards zero via the Lyapunov method.
ISSN:2688-0938
DOI:10.1109/CAC53003.2021.9728549