Image-based robust control of robot manipulators in the presence of uncertainty

被引：0
|
作者：
Jie, Min Seok [1 ]
Lee, Kang Woong [1 ]
机构：
[1] Hankuk Aviat Univ, Sch Elect Telecommun & Comp Engn, Koyang 412791, Kyonggi, South Korea
来源：
KNOWLEDGE-BASED INTELLIGENT INFORMATION AND ENGINEERING SYSTEMS, PT 1, PROCEEDINGS | 2006年 / 4251卷
关键词：
robust control; image-based control; image Jacobian; robot manipulator; visual feedback;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we propose a robust controller with visual feedback for tracking control of robot manipulators in the presence of bounded parametric uncertainties. The proposed control input consists of a nonlinear term to achieve robustness to the parametric uncertainty and feedback terms including the image feature and the joint velocity to guarantee the stability of the closed-loop system. The globally uniformly ultimate boundedness of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation and experiment results on the 5-link robot manipulators with two degree of freedom.
引用
收藏
页码：858 / 865
页数：8
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