Visual servoing of robot manipulator without camera calibration

被引：4

作者：

Cheah, CC ^{[1
]}

Kawamura, S ^{[1
]}

Arimoto, S ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Robot, Shiga 525, Japan

来源：

1998 5TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL - PROCEEDINGS: AMC '98 - COIMBRA | 1998年

关键词：

D O I：

10.1109/AMC.1998.743638

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, visual-based feedback control laws are proposed for setpoint control of robots without camera and kinematic calibrations. Sufficient conditions For the bounds of the calibration errors and stability conditions for the Feedback gains are presented to guarantee the stability of the robots' motion. Visual-based gravity regressor is also proposed for gravitational force compensation when the gravitational force is uncertain. Simulation results are presented to illustrate the performance of the proposed controllers.

引用

页码：688 / 693

页数：6