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题名:
Robust Visual Tracking of Robot Manipulators with Uncertain Dynamics and Uncalibrated Camera
作者: Wang CL(王朝立); Yantao Shen; Yunhui Liu; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV’02)
会议日期: December2-5, 2002
会议地点: Singapore
会议录: Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV’02)
出版日期: 2002
页码: 1144-1149
收录类别: EI
摘要: This paper addresses visual servoing of a robot manipulator with uncalibrated intrinsic and extrinsic parameters of the vision system and unknown physical parameters of the manipulator, A novel sliding mode visual feedback scheme is proposed to solve the problem of the robust trajectory tracking of a planar manipulator in the image frame without calibrating the camera parameters, The controller does not use visual velocity so as to achieve high and robust performance with low sampling rate of the vision system. It is proved by Lyapunov direct method that the tracking error of the robot converges to an arbitrarily small neighborhood of zero. The simulation is included to demonstrate the effectiveness of the controller proposed.
语种: 英语
产权排序: 1
EI收录号: 2004208164415
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9843
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wang CL,Yantao Shen,Yunhui Liu,et al. Robust Visual Tracking of Robot Manipulators with Uncertain Dynamics and Uncalibrated Camera[C]. Seventh International Conference on Control, Automation, Robotics and Vision (ICARCV’02). Singapore. December2-5, 2002.Robust Visual Tracking of Robot Manipulators with Uncertain Dynamics and Uncalibrated Camera.
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