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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Image-based Robust Control of Robot Manipulators with Image Jacobian and Dynamics Uncertainties

영상 자코비안 및 동특성 불확실성을 포함하는 로봇 매니퓰레이터의 영상기반 강인제어

  • 김진수 (한국항공대학교 항공전자공학과) ;
  • 모은종 (한국항공대학교 항공전자공학과) ;
  • 이강웅 (한국항공대학교 항공전자공학과)
  • Published : 2008.10.01
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Abstract

In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate boundedness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.

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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