Robot visual servoing with iterative learning control

被引：25

作者：

Jiang, P ^{[1
]}

Unbehauen, R

机构：

[1] Tongji Univ, Dept Informat & Control Engn, Shanghai 200092, Peoples R China

[2] Univ Erlangen Nurnberg, Lehrstuhl Allgemeine & Theoret Elektrotech, D-91058 Erlangen, Germany

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS | 2002年 / 32卷 / 02期

基金：

中国国家自然科学基金;

关键词：

adaptive control; iterative learning control; visual servoing;

D O I：

10.1109/TSMCA.2002.1021116

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an iterative learning scheme for vision-guided robot trajectory tracking. At first, a stability criterion for designing iterative learning controller is proposed. It can be used for a system with initial resetting error. By using the criterion, one can convert the design problem into finding a positive definite discrete matrix kernel and a more general form of learning control can be obtained. Then, a three-dimensional (3-D) trajectory tracking system with a single static camera to realize robot movement imitation is presented based on this criterion.

引用

页码：281 / 287

页数：7

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