Asymptotic motion control of robot manipulators using uncalibrated visual feedback

Yantao Shen; Yun Hui Liu; Kejie Li; Jianwei Zhang; Alois Knoll

doi:10.1109/ROBOT.2001.932560

Asymptotic motion control of robot manipulators using uncalibrated visual feedback

Yantao Shen, Yun Hui Liu, Kejie Li, Jianwei Zhang, Alois Knoll

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

To implement a visual feedback controller, it is necessary to calibrate the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. The calibration accuracy greatly affects the control performance. In this paper, we address the problem of controlling a robot manipulator using visual feedback without calibrating the transformation matrix. We propose an adaptive algorithm to estimate the unknown matrix on-line. It is proved by Lyapunov approach that the robot motion approaches asymptotically to the desired one and the estimated matrix is bounded under the control of the proposed visual feedback controller. The performance has been confirmed by simulations and experiments.

Original language	English
Pages (from-to)	241-246
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	1
DOIs	https://doi.org/10.1109/ROBOT.2001.932560
State	Published - 2001
Externally published	Yes

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title = "Asymptotic motion control of robot manipulators using uncalibrated visual feedback",

abstract = "To implement a visual feedback controller, it is necessary to calibrate the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. The calibration accuracy greatly affects the control performance. In this paper, we address the problem of controlling a robot manipulator using visual feedback without calibrating the transformation matrix. We propose an adaptive algorithm to estimate the unknown matrix on-line. It is proved by Lyapunov approach that the robot motion approaches asymptotically to the desired one and the estimated matrix is bounded under the control of the proposed visual feedback controller. The performance has been confirmed by simulations and experiments.",

author = "Yantao Shen and Liu, {Yun Hui} and Kejie Li and Jianwei Zhang and Alois Knoll",

year = "2001",

doi = "10.1109/ROBOT.2001.932560",

language = "English",

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pages = "241--246",

journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

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AU - Shen, Yantao

AU - Liu, Yun Hui

AU - Li, Kejie

AU - Zhang, Jianwei

AU - Knoll, Alois

PY - 2001

Y1 - 2001

N2 - To implement a visual feedback controller, it is necessary to calibrate the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. The calibration accuracy greatly affects the control performance. In this paper, we address the problem of controlling a robot manipulator using visual feedback without calibrating the transformation matrix. We propose an adaptive algorithm to estimate the unknown matrix on-line. It is proved by Lyapunov approach that the robot motion approaches asymptotically to the desired one and the estimated matrix is bounded under the control of the proposed visual feedback controller. The performance has been confirmed by simulations and experiments.

AB - To implement a visual feedback controller, it is necessary to calibrate the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. The calibration accuracy greatly affects the control performance. In this paper, we address the problem of controlling a robot manipulator using visual feedback without calibrating the transformation matrix. We propose an adaptive algorithm to estimate the unknown matrix on-line. It is proved by Lyapunov approach that the robot motion approaches asymptotically to the desired one and the estimated matrix is bounded under the control of the proposed visual feedback controller. The performance has been confirmed by simulations and experiments.

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EP - 246

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

ER -

Asymptotic motion control of robot manipulators using uncalibrated visual feedback

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