Alejandro Carrasco-Elizalde and Peter Goldsmith
Robot control, visual servoing, adaptive control, robust control
An adaptive control for visual servoing is presented that is robust to parametric uncertainties in the robot arm model and in the camera calibration and feature tracking system. The control includes a tuning parameter for balancing nominal performance and stability robustness. The control is implemented on a PUMA robot driven by an open-architecture controller. Experiments validate the theoretical results and compare the performance of the proposed control to that of PID control and quasi-Newton adaptive control.
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