Abstract:Aiming at the time-varying uncertainties of robot and camera models in IBUVS (image-based uncalibrated visual servo) systems, a finite-time adaptive controller is proposed based on the depth-independent Jacobian matrix. Firstly, the adaptive law of depth parameters, kinematic parameters, and dynamic parameters is proposed for the uncertainty of a robot model and a camera model. Secondly, a finite-time adaptive controller is designed by using a nonlinear proportional differential plus a dynamic feedforward comp… Show more
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