Uncalibrated sliding mode visual servoing of uncertain robot manipulators

被引：0
|
作者：
Parra-Vega, V [1 ]
Fierro-Rojas, JD [1 ]
Espinosa-Romero, T [1 ]
机构：
[1] CINVESTAV, Mechatron Div, Mexico City, DF, Mexico
来源：
2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new alternative approach to solve the position visual feedback control problem for robot manipulators in fixed camera configuration. The control goal is to move the robot end-effector for tracking tasks. It is assumed that all robot parameters are unknown and the intrinsic and extrinsic CCD camera parameters are uncalibrated. This result is along the line of the control scheme presented by Shen et al., however our controller does neither need knowledge of the analytic Jacobian nor any robot parameters. Simulations results for real parameters of a two degrees-of-freedom manipulator are presented to illustrate the controller's performance.
引用
收藏
页码：336 / 341
页数：6
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