Image-based robotic control with unknown camera parameters and joint velocities

摘要

SUMMARY A new image-based controller is proposed for the robotic system with the joint velocity signals unavailable. The Immersion and Invariance (I&I) observer is applied to estimate the unknown velocity information. Compared with the general velocity observer, the I&I observer can estimate the unknown velocity exponentially. We consider the case that the exact camera parameters are not known. The corresponding adaptive controller is designed for the robot system and the stability is rigorously proven by using Lyapunov theorem. Finally, simulations are performed and the results show the effectiveness of the proposed control approach.