INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Adaptive Visual Servoing Control of a Manipulator with Uncertainties in Vision and Dynamics (Conference Paper)
Autor/es:
JORGE SARAPURA; JAVIER GIMENEZ; FLAVIO ROBERTI; DANIEL PATIÑO; RICARDO CARELLI
Lugar:
Buenos Aires
Reunión:
Congreso; 2018 Argentine Conference on Automatic Control, AADECA 2018; 2018
Institución organizadora:
AADECA
Resumen:
In this paper we present a new adaptive dynamiccontroller based on vision for tracking objects with a planarmanipulator robot in fixed camera configuration, consideringthe orientation of the camera assembly, the depth of the objectand the dynamic parameters of the robot to be uncertain.The control scheme is designed with a vision-based adaptivekinematic controller in charge of executing the task of trackingthe object even with unknown parameters of the vision system.This controller provides speed references to a dynamic cascadeadaptive controller whose objective is to generate the final controlactions of the robot with imprecise knowledge of its dynamics.Finally, it is shown the stability of the proposed system based onthe Lyapunov Theory and the performance of the two adaptivecontrollers through simulations are shown.
