Adaptive Visual Servo Regulation Control for Camera-in-Hand Configuration with a Fixed-Camera Extension
CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING
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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.