Adaptive position and orientation regulation for the camera-in-hand problem

Abstract

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… (More)
DOI: 10.1002/rob.20079

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