Dynamic Control of Uncertain Manipulators Through Immersion and Invariance Adaptive Visual Servoing

Authors:
Alessandro R. L. Zachi;Liu Hsu;Romeo Ortega;Fernando Lizarralde
Affiliations:
Dept. of Electrical Engineering CEFET/RJ, Rio de Janeiro, Brazil;Dept. of Electrical Engineering/COPPE, Federal University of Rio de Janeiro Brazil;Lab. des Signaux et Systèmes, Supelec, Gif-sur-Yvette, France;Dept. of Electrical Engineering/COPPE, Federal University of Rio de Janeiro Brazil
Venue:
International Journal of Robotics Research
Year:
2006

Citing 2
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Abstract

In this paper a control theoretical solution is presented for the direct adaptive visual dynamic control of planar manipulators using a fixed camera, when both camera calibration and robot dynamics are uncertain. The proposed scheme is developed for image-based look-and-move visual systems to allow tracking of a moving target. In order to solve the multivariable parameter adaptive problem, the recently proposed Immersion and Invariance (I&I) method is used. The scheme is then combined with an adaptive controller for the manipulator, taking into account its nonlinear dynamics. This leads to an overall stable adaptive visual servoing system. An extension of the I&I approach for 3D visual servoing is shown to be possible by a convenient control reparametrization associated with a proper image-based depth control scheme.