Accession Number:

ADA465581

Title:

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

Descriptive Note:

Technical rept.

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Personal Author(s):

• Tatlicioglu, Enver
• Dawson, Darren M.
• Xian, Bin

Report Date:

2007-03-09

Pagination or Media Count:

12.0

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.

Descriptors:

• *ADAPTIVE CONTROL SYSTEMS
• *COMPUTER VISION
• ROBOTICS
• LYAPUNOV FUNCTIONS

Subject Categories:

• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE