Adaptive Jacobian vision based control for robots with uncertain depth information

作者：Cheah Chien Chern^*; Liu Chao; Slotine Jean Jacques E

来源：Automatica, 2010, 46(7): 1228-1233.

DOI：10.1016/j.automatica.2010.04.009

• Vision based control
• Adaptive Jacobian control
• Uncertain depth
• Nonlinear parameterizable term

This paper presents a simple vision based setpoint controller with adaptation to uncertainty in depth information. Depth uncertainty plays a special role in vision based control as it appears nonlinearly in the overall Jacobian matrix and hence cannot be adapted together with other uncertain kinematic parameters. We propose a novel parameter update law to update the uncertain parameters of the depth. It is proved that system stability can be guaranteed for the vision regulation task in presence of uncertainties in depth information, robot kinematics and dynamics. Simulation results are presented to illustrate the performance of the proposed controller.

• 出版日期2010-7
• 单位南阳理工学院