Robust adaptive visual servoing of a robot arm

被引：0
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作者：
机构：
[1] Carrasco-Elizalde, Alejandro
[2] Goldsmith, Peter
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| 1600年 / Acta Press, Building B6, Suite 101, 2509 Dieppe Avenue S.W., Calgary, AB, T3E 7J9, Canada卷 / 30期
关键词：
Adaptive control systems - Robotic arms - Three term control systems - Robust control;
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摘要：
An adaptive control for visual servoing is presented that is robust to parametric uncertainties in the robot arm model and in the camera calibration and feature tracking system. The control includes a tuning parameter for balancing nominal performance and stability robustness. The control is implemented on a PUMA robot driven by an open-architecture controller. Experiments validate the theoretical results and compare the performance of the proposed control to that of PID control and quasi-Newton adaptive control.
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