Adaptive visual servoing control for uncalibrated robot manipulator with uncertain dead-zone constraint

文献类型： 外文期刊

第一作者： Ma, YA-Jun

作者： Ma, YA-Jun;Ma, YA-Jun;Zhao, Hui;Li, Tao

作者机构：

关键词： Adaptive control; robot manipulator; visual servoing; unknown dead-zone inputs; projecting algorithm

期刊名称：TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL （ 影响因子：1.9； 五年影响因子：1.7 ）

ISSN： 0142-3312

年卷期： 2025 年 47 卷 11 期

页码：

收录情况： SCI

摘要： This paper addresses the adaptive visual tracking control problem of an uncalibrated camera robot system with unknown dead-zone inputs. The uncertainties include camera extrinsic and intrinsic parameters, robot dynamic parameters, and feature depth parameters. The control achieves a better performance by establishing a smooth inverse model of the dead-zone input, which eliminates the nonlinear effect of the actuator constraint. A novel adaptive control scheme is presented which does not require a priori knowledge of the parameter intervals of dead-zone model, to update the parameter values online. Furthermore, adaptive laws are provided to estimate the uncertainties that exist both in robot and in camera models. Meanwhile, in order to avoid the singularity of the image Jacobian matrix, a projection algorithm is also introduced. Subsequently, a novel robust adaptive controller together with dead-zone compensation is established so that the tracking error image space converges to the origin. Simulations and experimental studies are conducted to verify the effectiveness of the proposed method.

分类号：

  • 相关文献
作者其他论文 更多>>

微信小程序