Adaptive robot control with visual feedback
Adaptive robot control with visual feedback
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DOI：
10.1109/acc.1994.752374
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发表时间：
1994-06
期刊：
影响因子：
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通讯作者：
Ricardo Carelli;O. Nasisi;B. Kuchen
中科院分区：
文献类型：
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作者：
Ricardo Carelli;O. Nasisi;B. Kuchen
本文提出了一种基于视觉反馈的手持式机器人自适应控制器。控制器的设计是为了补偿机器人的全部动力学。引入自适应以降低机器人和有效载荷动态不确定性引起的设计灵敏度。证明了该控制系统能够在图像坐标系中渐近实现位置控制目标。为了评估控制器的性能，进行了仿真。
In this paper we propose an adaptive controller for robots with camera-in-hand configuration using visual feedback. The controller is designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamic uncertainties. The control system is proved to asymptotically achieve the position control objective in the image coordinate system. Simulations are carried out to evaluate the controller performance.