File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Adaptive motion control of manipulators with uncalibrated visual feedback

TitleAdaptive motion control of manipulators with uncalibrated visual feedback
Authors
Issue Date2002
Citation
IEEE International Conference on Intelligent Robots and Systems, 2002, v. 1, p. 317-322 How to Cite?
AbstractFor the visual servoing tasks, it is required to calibrate accurately the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. In this paper, based on an important observation, that is, the unknown transformation matrix between the robot base frame and the vision frame can be separated from the visual Jacobian matrix, and by virtue of decomposition of rotation matrix, we design a novel adaptive position-based visual servo controller for manipulators when the transformation matrix is not calibrated. It is proved with a full dynamics of the system by Lyapunov approach that the motion of the manipulator approaches asymptotically to the desired trajectory. Simulations and experimental results both demonstrate performance of this new controller.
Persistent Identifierhttp://hdl.handle.net/10722/212751

 

DC FieldValueLanguage
dc.contributor.authorShen, Yantao-
dc.contributor.authorLiu, Yun Hui-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:04:54Z-
dc.date.available2015-07-28T04:04:54Z-
dc.date.issued2002-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 2002, v. 1, p. 317-322-
dc.identifier.urihttp://hdl.handle.net/10722/212751-
dc.description.abstractFor the visual servoing tasks, it is required to calibrate accurately the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. In this paper, based on an important observation, that is, the unknown transformation matrix between the robot base frame and the vision frame can be separated from the visual Jacobian matrix, and by virtue of decomposition of rotation matrix, we design a novel adaptive position-based visual servo controller for manipulators when the transformation matrix is not calibrated. It is proved with a full dynamics of the system by Lyapunov approach that the motion of the manipulator approaches asymptotically to the desired trajectory. Simulations and experimental results both demonstrate performance of this new controller.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleAdaptive motion control of manipulators with uncalibrated visual feedback-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0036448795-
dc.identifier.volume1-
dc.identifier.spage317-
dc.identifier.epage322-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats