Adaptive Position and Orientation Regulation for the Camera-in-Hand Problem

摘要

This paper considers the camera-space position and orientation regulation problem for the camera-in-hand problem via visual serving in the presence of parametric uncertainty associated with the robot dynamics and the camera system. Specifically, an adaptive robot controller is developed that forces the end-effector of a robot manipulator to move such that the position and orientation of an object are regulated to a desired position and ori- entation in the camera-space, despite parametric uncertainty throughout the entire robot-camera system. An extension is also provided that illustrates how slight modifications can be made to the camera-in-hand control law to achieve adaptive position and orientation tracking of the end-effector in the camera-space for a fixed-camera configuration. Simulation results are provided to illustrate the performance of the adaptive, camera-in-hand controller.