Adaptive Calibration and Control of 2D Monocular Visual Servo Systems

Bishop, B.E.; Spong, Mark W.

doi:10.1016/s1474-6670(17)44311-4

Cited by 26 publications

(28 citation statements)

References 5 publications

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“…Uncertainties of some of the physical parameters in the Jacobian matrix were considered in Kelly (1996) and Zergeroglu, Dawson, deQueiroz, and Nagarkatti (1999), while the Jacobian-fixedapproximation-based approaches in Cheah (2008), Cheah, Hirano, Kawamura, and Arimoto (2004, Cheah, Kawamura, and Arimoto (1999), Cheah, Kawamura, Arimoto, and Lee (2001), Cheah, Hirano, Kawamura, and Arimoto (2003, and Liu and Cheah (2005) systematically investigated the task-space set-point control problem with uncertainty in the entire Jacobian, where uncertainties of all physical parameters in the Jacobian can be considered. To remove constraints on the bound of approximate Jacobian in the Jacobian-fixed-approximation-based approaches, more and more attention has been paid to the Jacobian-adaptive-estimation-based uncalibrated visual servoing schemes (Bishop & Spong, 1999;Braganza, Dixon, Dawson, & Xian, 2008;Cheah, Liu, & Slotine, 2006a,b;Dixon, 2007;Dixon, Dawson, Zergeroglu, & Behal, 2001;Galicki, 2008;Liang, Huang, Wang, & Zeng, 2010;Liu, Cheah, & Slotine, 2006;Zergeroglu, Dawson, Queiroz, & Behal, 2001), where adaptive laws are designed to estimate some or all of unknown physical parameters in the Jacobian matrix.…”

Section: Introductionmentioning

confidence: 99%

A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration

et al. 2015

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Section: Introductionmentioning

confidence: 99%

A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration

et al. 2015

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“…In order to improve the transient performance of the systems, a method to overparameterize the system is proposed in [8]. However, these approaches unfortunately lack robustness.…”

Section: Introductionmentioning

confidence: 99%

Robust visual tracking for manipulators with unknown intrinsic and extrinsic parameters

Wang

Ding

2007

J. Control Theory Appl.

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This paper addresses the robust visual tracking of multi-feature points for a 3D manipulator with unknown intrinsic and extrinsic parameters of the vision system. This class of control systems are highly nonlinear control systems characterized as time-varying and strong coupling in states and unknown parameters. It is first pointed out that not only is the Jacobian image matrix nonsingular, but also its minimum singular value has a positive limit. This provides the foundation of kinematics and dynamics control of manipulators with visual feedback. Second, the Euler angle expressed rotation transformation is employed to estimate a subspace of the parameter space of the vision system. Based on the two results above, and arbitrarily chosen parameters in this subspace, the tracking controllers are proposed so that the image errors can be made as small as desired so long as the control gain is allowed to be large. The controller does not use visual velocity to achieve high and robust performance with low sampling rate of the vision system. The obtained results are proved by Lyapunov direct method. Experiments are included to demonstrate the effectiveness of the proposed controller.

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“…[3]. Nonlinearly parametrized systems also appear when using a visual servoing system to control the motion of a robot [4], [5], [6], [7], [8], [9] and in friction compensation problems [10], [11], [12], [13]. Nonlinear parametrizations appear even in very simple RLC circuits and have a large extent of utility.…”

Section: Introductionmentioning

confidence: 99%

A new adaptive control algorithm for systems with multilinear parametrization

Netto

Annaswamy

Mammar

et al. 2006

2006 American Control Conference

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Adaptive control of nonlinearly parametrized (NLP) systems is an unknown field, where few results have been proposed up to now. In this paper, we propose a new adaptive control algorithm for systems with multilinear parametrization, that belong to the class of nonlinear parametrizations. The proposed controller is a non certainty equivalence one where only the original parameters, without then the need of overparametrization, are adapted. An important feature of the proposed approach is that its convergence properties are not based on projections inside the hypercube to where the parameters are known to lie. Simulations show the efficacy of the approach highlighting this fact, that is, that convergence holds even for the case where the adapted parameters do not belong to the hypercube where the true parameters are known to be.

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Adaptive Calibration and Control of 2D Monocular Visual Servo Systems

Cited by 26 publications

References 5 publications

A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration

A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration

Robust visual tracking for manipulators with unknown intrinsic and extrinsic parameters

A new adaptive control algorithm for systems with multilinear parametrization

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