Adaptive Image-Space Regulation for Robotic Systems

Volume: 29, Issue: 2, Pages: 850 - 857
Published: Mar 1, 2021
Abstract
This brief investigates the image-space regulation problem for visually servoed robotic systems by considering the uncertainties in the camera model and the manipulator kinematics and dynamics. By exploiting the depth-related passivity of the overall system kinematics, we first propose an adaptive dynamic controller that avoids the image-space velocity measurement by introducing a filter. In addition, we further show how to utilize the passivity...
Paper Details
Title
Adaptive Image-Space Regulation for Robotic Systems
Published Date
Mar 1, 2021
Volume
29
Issue
2
Pages
850 - 857
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