An adaptive controller for image-based visual servoing of robot manipulators

摘要

This paper presents a new adaptive controller for visual servoing of robot manipulators based on the concept of depth-independent interaction matrix. By mapping the image error onto the joint space using the depth-independent interaction matrix, it is possible to make the unknown 3-D coordinates of the feature points linearly appear in the closed-loop dynamics of the system, so the unknown coordinates can be estimated on-line by an adaptive algorithm. This controller differs from those developed by us previously because a simplified adaptive algorithm is used. The asymptotic stability of the system has been proved by Laypunov theory. Simulations have been conducted to demonstrate performance of this controller.