Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs

Türker Şahin And Erkan ZERGEROĞLU

Makale detayları

Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs

Yazarlar:

Türker Şahin And Erkan ZERGEROĞLU

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2006 Vol.14 Issue 2, pp.253-266

Belge Tipi:

Makale

Yayın Tarihi:

1/2006

Belge Dili:

Türkçe

Document ID (Org No.):

2000744153

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

This paper considers the problem of position control of  robot manipulators via visual servoing in the presence of uncertainty  associated with the robot dynamics and the vision system.   Specifically, an adaptive controller is designed to compensate for the  uncertainties associated with the mechanical parameters of the robot  manipulator and the intrinsic parameters of the cameras. The 3D  visual information is obtained from the composite inputs of two  separate cameras placed in the robot work space.  Despite the  uncertainties associated with the camera system and robot dynamics the  proposed adaptive controller achieves asymptotic end effector position  tracking. A Lyapunov based approach is presented to prove the  stability and boundedness of the signals in the closed loop system.   Simulation results are presented to illustrate the performance of the  proposed controller.

 

This paper considers the problem of position control of  robot manipulators via visual servoing in the presence of uncertainty  associated with the robot dynamics and the vision system.   Specifically, an adaptive controller is designed to compensate for the  uncertainties associated with the mechanical parameters of the robot  manipulator and the intrinsic parameters of the cameras. The 3D  visual information is obtained from the composite inputs of two  separate cameras placed in the robot work space.  Despite the  uncertainties associated with the camera system and robot dynamics the  proposed adaptive controller achieves asymptotic end effector position  tracking. A Lyapunov based approach is presented to prove the  stability and boundedness of the signals in the closed loop system.   Simulation results are presented to illustrate the performance of the  proposed controller.

Makale detayları

Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs

Yazarlar: Türker Şahin And Erkan ZERGEROĞLU

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2006 Vol.14 Issue 2, pp.253-266

Belge Tipi: Makale

Yayın Tarihi: 1/2006

Belge Dili: Türkçe

Document ID (Org No.): 2000744153

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Türker Şahin And Erkan ZERGEROĞLU

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2006 Vol.14 Issue 2, pp.253-266

Belge Tipi:

Makale

Yayın Tarihi:

1/2006

Belge Dili:

Türkçe

Document ID (Org No.):

2000744153

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632