Adaptive sliding mode uncalibrated visual servoing for finite-time tracking of 2D robot

被引：0
|
作者：
Parra-Vega, V [1 ]
Fierro-Rojas, JD [1 ]
Espinosa-Romero, A [1 ]
机构：
[1] CINVESTAV, Mechatron Div, Mexico City 14000, DF, Mexico
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A globally convergent visual feedback control scheme is proposed for the dynamic model of uncertain planar robot manipulators with uncalibrated camera. Additionally, a time-varying feedback gain induces a terminal attractor in the visual error manifold to guarantee finite-time convergence of image-based tracking errors. Simulations results of a two degrees-of-freedom manipulator with uncalibrated CCD camera are presented to illustrate the dynamic closed-loop performance.
引用
收藏
页码：3048 / 3054
页数：7
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