Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults
Jiashuai Li,
Xiuyan Peng,
Bing Li
et al.
Abstract:This study presents a novel image-based visual servoing fault-tolerant control strategy aimed at ensuring the successful completion of visual servoing tasks despite the presence of robotic arm actuator faults. Initially, a depth-independent image-based visual servoing model is established to mitigate the effects of inaccurate camera parameters and missing depth information on the system. Additionally, a robotic arm dynamic model is constructed, which simultaneously considers both multiplicative and additive ac… Show more
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