Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2008.14.10.1047

Image-based Robust Control of Robot Manipulators with Image Jacobian and Dynamics Uncertainties  

Kim, Chin-Su (한국항공대학교 항공전자공학과)
Mo, Eun-Jong (한국항공대학교 항공전자공학과)
Lee, Kang-Woong (한국항공대학교 항공전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.10, 2008 , pp. 1047-1052 More about this Journal
Abstract
In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate boundedness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.
Keywords
manipulator; visual servoing; robust control; image Jacobian;
Citations & Related Records

Times Cited By SCOPUS : 1
연도 인용수 순위
  • Reference
1 R. Kelly, 'Robust asymptotically stable visual servoing of planar robots,' IEEE Trans. Robotics and Automation, vol. 12, no. 5, pp. 759-766, 1996   DOI   ScienceOn
2 E. Zergeroglu, D. M. Dawson, M. S. de Queiroz, and A. Behal, 'Vision-based nonlinear tracking controllers with uncertain robot-camera parameters,' IEEE/ASME Trans. On Mechatronics, vol. 6, no. 3, pp. 322-337, 2001   DOI   ScienceOn
3 K. Hashimoto, T. Kimoto, T. Ebine and H. Kimura, 'Manipulator control with image-based visual servo,' Proc. IEEE Int. Conf. Robotics and Automation, Sacramento, CA, pp. 2267-2272, 1991
4 L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulator, McGraw Hill New York, 1996
5 R. Kelly, R. Carelli, O. Nasisi, B. Kuchen, and F. Reyes, 'Stable visual servoing of camera-in-hand robotic systems,' IEEE/ASME Trans. Mechatronics, vol. 5, no. 1, pp. 39-43, 2000   DOI   ScienceOn
6 S. Hutchinson, G. D. Hager, and P. I. Corke, 'A tutorial on visual servo sontrol,' IEEE Trans. Robotics and Automation, vol. 12, no. 5, pp. 651-670, 1996   DOI   ScienceOn
7 E. Zergeroglu, D. M. Dawson, M. S. de Queiroz, and P. Setlur, 'Robust visual-servo control of robot manipulators in the presence of uncertainty,' Journal of Robotic Systems, vol. 20, no. 2, pp. 93-106, 2003   DOI
8 G. Liu and A. A. Goldenberg, 'Robust control of robot manipulators based on dynamics decomposition,' IEEE Trans. Robotics and Automation, vol. 13, no. 5, pp. 783-789, 1997   DOI   ScienceOn