Adaptive servo visual robot control based on image moment

被引：0

作者：

Li Hui-guang ^{[1
]}

Zhu Xu-dong ^{[1
]}

Li Guo-you ^{[1
]}

机构：

[1] Yanshan Univ, Elect & Engn Coll, Qinhuangdao 066004, Peoples R China

来源：

Proceedings of 2004 Chinese Control and Decision Conference | 2004年

关键词：

visual servo; robot; image moment; image Jacobian; adaptive control;

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：

Based on image moment, an adaptive controller is presented by using visual information in feedback loop. The controller is designed to compensate for full robot dynamics, and reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system can achieve the motion control objective in the image coordinate system.

引用

页码：893 / 895

页数：3