Adaptive camera calibration control of planar robots: Elimination of camera space velocity measurements

Abstract

This article considers the problem of position tracking control of planar robot manipulators via visual servoing in the presence of parametric uncertainty associated with the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncertain camera parameters and ensures global asymptotic position tracking. In contrast with much of the previous work, the proposed controller does not require camera-space velocity measurements. Experimental results illustrating the viability of the adaptive controller proposed are also included. © 2008 Elsevier B.V., All rights reserved.