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

摘要

This paper considers the problem of position control ofrobot manipulators via visual servoing in the presence of uncertaintyassociated with the robot dynamics and the vision system. Specifically, an adaptive controller is designed to compensate for theuncertainties associated with the mechanical parameters of the robotmanipulator and the intrinsic parameters of the cameras. The 3Dvisual information is obtained from the composite inputs of twoseparate cameras placed in the robot work space. Despite theuncertainties associated with the camera system and robot dynamics theproposed adaptive controller achieves asymptotic end effector positiontracking. A Lyapunov based approach is presented to prove thestability and boundedness of the signals in the closed loop system. Simulation results are presented to illustrate the performance of theproposed controller