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

Anahtar Kelimeler:

Turk. J. Elec. Eng. & Comp. Sci., 14, (2006), 253-266. Full text: pdf Other articles published in the same issue: Turk. J. Elec. Eng. & Comp. Sci., vol.14, iss.2.

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

Keywords:

Turk. J. Elec. Eng. & Comp. Sci., 14, (2006), 253-266. Full text: pdf Other articles published in the same issue: Turk. J. Elec. Eng. & Comp. Sci., vol.14, iss.2.,

PDF

___

G.D. Hager and S. Hutchinson (guest editors), Special Section on Vision-Based Control of Robot Manipulators, IEEE Trans. Robotics and Automation, Vol. 12, No. 5, Oct. 1996.
B. Nelson and N. Papanikolopoulos (guest editors), Special Issue on Visual Servoing, IEEE Robotics and Automation Mag., Vol. 5, No. 4, Dec. 1998.
E. Malis, ”Survey of Vision Based Control”, ENSIETA European Naval Ship Design Short Course, Brest, France, 2002.
F. Miyazaki and Y. Masutani, “Robustness of Sensory Feedback Control Based on Imperfect Jacobian”, Robotics Research: The Fifth Int. Symp., pp. 201-208, H. Miura and S. Arimoto, Eds., Cambridge, MA: MIT Press, 1990. [5] G.D. Hager, W.C. Chang, and A.S. Morse, “Robot Hand-Eye Coordination Based on Stereo Vision”, IEEE Control Systems Mag., Vol. 15, No. 1, pp. 30-39, Feb. 1995.
B. H. Yoshima and P. K. Allen, ”Active, uncalibrated Visual Servoing”, in Proc. IEEE Int. Conf. Robotics and Automation, pp 156-161, 1994.
R. Kelly, ”Robust Asymptotically Stable Visual Servoing of Planar Robots”, IEEE Trans. Robotics and Au- tomation, Vol 12, No. 5, pp.759-766, 1996.
E. Zergeroglu, D. Dawson, M.S. de Queiroz, and A. Behal, “Vision-Based Nonlinear Tracking Controllers with Uncertain Robot-Camera Parameters ”, IEEE/ASME Transactions on Mechatronics, Vol. 6, No 3, pp 322-337, September 2001.
E. Zergeroglu, D. M. Dawson, M. S. de Queiroz, and P. Setlur, ”Robust Visual-Servo Control of Planar Robot Manipulators in the presence of uncertainty”, Journal of Robotic Systems, Volume 20, Issue 2, pp. 93-106, Feb. 2003.
Y. Shen, D. Sun, Y. Lui, K. Li, ”Asymptotic Trajectory Tracking of Manipulators Using Uncalibrated Visual Feedback”, IEEE/ASME Transactions on Mechatronics, Vol. 8, No 1, pp 87-98, March 2003.
M. Saedan and M. H. Ang Jr, ”3D Vision-Based Control of an Industrial Robot”, Proceedings of the IASTED International Conference on Robotics and Applications, Florida, USA, pp. 152-157, Nov. 19-22 2002.
H.T. S¸ahin, E. Zergeroglu “Adaptive Visual Servo Control of Robot Manipulators via Composite Camera Inputs” Fifth International Workshop on Robot Motion and Control-ROMOCO05, pp. 219-224, Dymaczewo-Poland, June 2005
M. Krstic, I. Kanellakopoulos, and P. Kokotovic, Nonlinear and Adaptive Control Design, New York, NY: John Wiley and Sons, 1995.
M.W. Spong and M. Vidyasagar, Robot Dynamics and Control, New York, NY: John Wiley and Sons, 1989.
F.L. Lewis, C.T. Abdallah, and D.M. Dawson, Control of Robot Manipulators, New York, NY: MacMillan, 1993. [16] B. Xian, M.S. de Queiroz, D. Dawson, and I. Walker,”Task-Space Tracking Control of Robot Manipulators via Quaternion Feedback”, IEEE Transactions on Robotics and Automation, Vol. 20, No. 1,pp.160-167, Feb. 2004. [17] R.K. Lenz and R.Y. Tsai, “Techniques for Calibration ot the Scale Factor and Image Center for High Accuracy 3-D Machine Vision Metrology”, IEEE Trans. Pattern Analysis and Machine Intelligence, Vol. 10, No. 5, Sept. 1988.
J.J. Slotine and W. Li, Applied Nonlinear Control, Englewood Cliff, NJ: Prentice Hall, 1991.