Adaptive 3D visual servo control of robot manipulators via composite camera inputs

Abstract

This paper considers the problem of position control of robot manipulators via visual servoing in the presence of uncertainty associated with the robot dynamics and the vision system. Specifically, an adaptive controller is designed to compensate for the uncertainties associated with the mechanical parameters of the robot manipulator and the intrinsic parameters of the cameras. The 3D visual information is obtained from the composite inputs of two separate cameras placed in the robot work space. Despite the uncertainties associated with the camera system and robot dynamics the proposed adaptive controller achieves asymptotic end effector position tracking. A Lyapunov based approach is presented to prove the stability and boundedness of the signals in the closed loop system. Simulation results are presented to illustrate the performance of the proposed controller. © TÜBİTAK. © 2008 Elsevier B.V., All rights reserved.