Adaptive neural network control for image‐based visual servoing of robot manipulators

摘要

Abstract This paper presents a novel adaptive neural network control strategy for image‐based visual servoing (IBVS) of robotic manipulators with both eye‐in‐hand and eye‐to‐hand camera configurations in the presence of unknown dynamics and external disturbances. The IBVS method is combined with the adaptive neural network to construct the proposed adaptive neural network controller to solve the visual servoing control problem of robots. The adaptive neural network based IBVS controller is designed based on the depth‐independent interaction matrix, which can be trained on‐line to identify the visual servoing robotic system modeling errors. Moreover, the proposed method can approach the unknown nonlinear dynamics for both eye‐in‐hand and eye‐to‐hand camera configurations without requiring the robot dynamics to be linearly parameterizable, and the exact knowledge of the robot structure is not needed. On the basis of the nonlinear robot dynamics, the Lyapunov stability analysis is given to prove the asymptotical convergence of the image position and velocity errors. Simulation results for both camera configurations are provided to demonstrate the performance of the proposed adaptive neural network based approach.