Abstract
In this paper, an image-based robust controller is designed to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experimental results of a 5-link robot manipulator with two degree of freedom.
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Recommended by Editorial Board member Dong-Joong Kang under the direction of Editor Jae-Bok Song.
Chin-Su Kim received his B.S. and M.S. degrees in Avionics from Korea Aerospace University in 2004 and 2006, respectively. Currently he is a Ph.D. candidate of the Korea Aerospace University, Korea. His research interests include robust control and visual servo control.
Eun-Jong Mo received his B.S. and M.S. and Ph.D. degrees in Avionics from Korea Aerospace University in 1998, 2003 and 2009, respectively. Since 1999 he works for Pratt & Whitney as an Engine Control System Engineer and customer service field representative for Korean Air. His research interests include aircraft engine control and fault control.
Sung-Min Han received his B.S. and M.S. degrees in Avionics from Korea Aerospace University in 2007 and 2009, respectively. Since 2009 he works for IBS Technology Research Institute as an in-pipe inspection robot engineer. His research interests include mobile robot control.
Min-Seok Jie received his B.S., M.S. and Ph.D. degrees in Avionics from Korea Aerospace University in 1995, 1997 and 2006, respectively. He is currently a Professor in the Department of Avionics and Computer Simulation, Hanseo University, Korea. His research interests include robot control, robot vision and motor control.
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Kim, CS., Mo, EJ., Han, SM. et al. Robust visual servo control of robot manipulators with uncertain dynamics and camera parameters. Int. J. Control Autom. Syst. 8, 308–313 (2010). https://doi.org/10.1007/s12555-010-0217-5
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DOI: https://doi.org/10.1007/s12555-010-0217-5