Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Robust Visual Feedback Control with Integral Compensation for Robot Manipulators

적분 보상을 포함하는 로봇 매니퓰레이터의 시각 궤환 강인 제어

  • 이강웅 (한국항공대학교 항공전자공학과) ;
  • 지민석 (한국항공대학교 항공전자공학과)
  • Published : 2006.03.01
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Abstract

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

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References

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Cited by

  1. Image-Based Robust Output Feedback Control of Robot Manipulators using High-Gain Observer vol.19, pp.8, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1892