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Image-based robotic control with unknown camera parameters and joint velocities

Published online by Cambridge University Press:  29 April 2014

Changchun Hua ,
Yinjuan Liu  and
Yana Yang
Changchun Hua*
Affiliation:
Department of Automation, Institute of Electrical Engineering, Yanshan University, Qinhuangdao City 066004, China
Yinjuan Liu
Affiliation:
Department of Automation, Institute of Electrical Engineering, Yanshan University, Qinhuangdao City 066004, China
Yana Yang
Affiliation:
Department of Automation, Institute of Electrical Engineering, Yanshan University, Qinhuangdao City 066004, China
*
*Corresponding author. E-mail: cch@ysu.edu.cn
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Summary

A new image-based controller is proposed for the robotic system with the joint velocity signals unavailable. The Immersion and Invariance (I&I) observer is applied to estimate the unknown velocity information. Compared with the general velocity observer, the I&I observer can estimate the unknown velocity exponentially. We consider the case that the exact camera parameters are not known. The corresponding adaptive controller is designed for the robot system and the stability is rigorously proven by using Lyapunov theorem. Finally, simulations are performed and the results show the effectiveness of the proposed control approach.

Keywords

Image-basedRobot controlI&I velocity observerUnknown camera parameters
Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015 , pp. 1718 - 1730
Copyright
Copyright © Cambridge University Press 2014 

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