Adaptive Visual Servo Regulation Control for Camera-in-Hand Configuration with a Fixed-Camera Extension

Abstract

In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.

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Document Details

Document Type
Technical Report
Publication Date
Mar 09, 2007
Accession Number
ADA465581

Entities

People

  • Bin Xian
  • Darren M. Dawson
  • Enver Tatlicioglu

Organizations

  • Clemson University

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Abstracts
  • Algorithms
  • Calibration
  • Computer Vision
  • Control
  • Coordinate Systems
  • Dynamics
  • Electrical Engineering
  • Engineering
  • Equations
  • Law
  • Lyapunov Functions
  • Regulations
  • Robots
  • Scalar Functions
  • Universities
  • Visual Servoing

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control