Adaptive Visual Servoing Control of a Manipulator with Uncertainties in Vision and Dynamics

Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

“…However, in this last scheme, the stability analysis showed that, even in trajectories that were not persistently exciting, the control errors always remained bounded. In a previous work [17], it was shown that, for the case of 2-D motion where the depth of the target was constant, the controllers always reached the control target even on non-exciting trajectories, such as a ramp type.…”

“…Finally, these schemes represent a generalization of previous work [17] to the case of 3-D movement by the manipulator. This makes it possible to consider not only the intrinsic and extrinsic parameters of the vision system as unknown but also the depth of the objective, which can be time-variant and, as shown in Section 3, can be estimated with an appropriate selection of the image characteristics.…”

“…Integrating Equation (21), it can be proven that xI ∈ L 2 . From the expression (17), it is proven that ẋI ∈ L ∞ . Then, by Barbalat's lemma, we conclude that xI (t) → 0 0 0 with t → ∞, thus, achieving the control objective.…”

“…In [17], a research work prior to the current one was presented, in which only a planar robot with two degrees of freedom was considered and where the unknown depth of the target was constant. In the present work, we propose an adaptive control system consisting of two cascaded controllers to control a 3-D robot.…”

Design of A Finite-Time Adaptive Controller for Image-Based Uncalibrated Visual Servo Systems with Uncertainties in Robot and Camera Models

“…To deal with dynamic uncertainties in the Jacobian matrix, reference [ 13 ] proposed a new adaptive dynamic controller based on vision for tracking objects with a planar manipulator robot in a fixed camera configuration, and it considered the orientation of the camera assembly, the depth of the object, and the main dynamic parameters of the robot to be uncertain. The control scheme is designed with a vision-based adaptive kinematic controller in charge of executing the task of tracking the object even with unknown parameters of the vision system.…”