SIA OpenIR  > 机器人学研究室
Robust Visual Tracking of Robot Manipulators with Uncertain Dynamics and Uncalibrated Camera
Wang CL(王朝立); Shen, Yantao; Liu YH(刘云辉); Wang YC(王越超)
Department机器人学研究室
Conference NameSeventh International Conference on Control, Automation, Robotics and Vision (ICARCV’02)
Conference DateDecember2-5, 2002
Conference PlaceSingapore
Source PublicationSeventh International Conference on Control, Automation, Robotics and Vision (ICARCV’02)
2002
Pages1144-1149
Indexed ByEI
EI Accession number2004208164415
Contribution Rank1
AbstractThis paper addresses visual servoing of a robot manipulator with uncalibrated intrinsic and extrinsic parameters of the vision system and unknown physical parameters of the manipulator, A novel sliding mode visual feedback scheme is proposed to solve the problem of the robust trajectory tracking of a planar manipulator in the image frame without calibrating the camera parameters, The controller does not use visual velocity so as to achieve high and robust performance with low sampling rate of the vision system. It is proved by Lyapunov direct method that the tracking error of the robot converges to an arbitrarily small neighborhood of zero. The simulation is included to demonstrate the effectiveness of the controller proposed.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/9843
Collection机器人学研究室
Affiliation1.Dept. of Automation and Computer Aided Eng., The Chinese Univemity of Hong Kong
2.Robotics Laboratory, The Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Wang CL,Shen, Yantao,Liu YH,et al. Robust Visual Tracking of Robot Manipulators with Uncertain Dynamics and Uncalibrated Camera[C],2002:1144-1149.
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