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Volume 25 Issue 11 - Publication Date: 1 November 2006
 
Dynamic Control of Uncertain Manipulators Through Immersion and Invariance Adaptive Visual Servoing
 
A. R. L. Zachi Dept. of Electrical Engineering CEFET/RJ, Rio de Janeiro, Brazil, L. Hsu Dept. of Electrical Engineering/COPPE, Federal University of Rio de Janeiro, Brazil, R. Ortega Lab. des Signaux et Systèmes, Supelec, Gif-sur-Yvette, France, and F. Lizarralde Dept. of Electrical Engineering/COPPE, Federal University of Rio de Janeiro, Brazil
 
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.
 
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