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

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

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

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

Kaynakça

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Kaynak Göster

Bibtex @ { tbtkelektrik144497, journal = {Turkish Journal of Electrical Engineering and Computer Science}, issn = {1300-0632}, eissn = {1303-6203}, address = {}, publisher = {TÜBİTAK}, year = {2006}, volume = {14}, pages = {253 - 266}, doi = {}, title = {Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs}, key = {cite}, author = {Zergeroğlu, Türker Şahin And Erkan} }
APA Zergeroğlu, T . (2006). Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs . Turkish Journal of Electrical Engineering and Computer Science , 14 (2) , 253-266 .
MLA Zergeroğlu, T . "Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs" . Turkish Journal of Electrical Engineering and Computer Science 14 (2006 ): 253-266 <
Chicago Zergeroğlu, T . "Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs". Turkish Journal of Electrical Engineering and Computer Science 14 (2006 ): 253-266
RIS TY - JOUR T1 - Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs AU - Türker Şahin And Erkan Zergeroğlu Y1 - 2006 PY - 2006 N1 - DO - T2 - Turkish Journal of Electrical Engineering and Computer Science JF - Journal JO - JOR SP - 253 EP - 266 VL - 14 IS - 2 SN - 1300-0632-1303-6203 M3 - UR - Y2 - 2021 ER -
EndNote %0 Turkish Journal of Electrical Engineering and Computer Science Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs %A Türker Şahin And Erkan Zergeroğlu %T Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs %D 2006 %J Turkish Journal of Electrical Engineering and Computer Science %P 1300-0632-1303-6203 %V 14 %N 2 %R %U
ISNAD Zergeroğlu, Türker Şahin And Erkan . "Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs". Turkish Journal of Electrical Engineering and Computer Science 14 / 2 (Şubat 2006): 253-266 .
AMA Zergeroğlu T . Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs. Turkish Journal of Electrical Engineering and Computer Science. 2006; 14(2): 253-266.
Vancouver Zergeroğlu T . Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs. Turkish Journal of Electrical Engineering and Computer Science. 2006; 14(2): 253-266.
IEEE T. Zergeroğlu , "Adaptive 3D Visual Servo Control of Robot Manipulators via Composite Camera Inputs", Turkish Journal of Electrical Engineering and Computer Science, c. 14, sayı. 2, ss. 253-266, Şub. 2006