Adaptive visual servoing control for uncalibrated robot manipulator with uncertain dead-zone constraint
文献类型： 外文期刊
作者： Ma, YA-Jun 1 ; Zhao, Hui 3 ; Li, Tao 4 ;
作者机构： 1.Tianjin Univ, Sch Elect & Informat Engn, Tianjin, Peoples R China
2.Beijing Inst Precis Mechatron & Controls, Beijing, Peoples R China
3.Tianjin Univ Technol, Sch Elect Engn & Automat, Tianjin 300384, Peoples R China
4.Beijing Acad Agr & Forestry Sci, Natl Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China
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.
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