308
Views
8
CrossRef citations to date
0
Altmetric
Articles

Visual servoing tracking control of uncalibrated manipulators with a moving feature point

ORCID Icon, &
Pages 2410-2426 | Received 14 Aug 2017, Accepted 28 Jun 2018, Published online: 01 Aug 2018

References

  • Boyd, S., Ghaoui, L. E., Feron, E., & Balakrishnan, V. (1994). Linear matrix inequalities in system & control theory (Studies in Applied Mathematics, Vol. 15). Society for Industrial and Applied Mathematics (SIAM). Retrieved from http://www.worldcat.org/isbn/089871334X
  • Braganza, D., Dixon, W. E., Dawson, D. M., & Xian, B. (2005). Tracking control for robot manipulators with kinematic and dynamic uncertainty. 44th IEEE conference on Decision and Control, 2005 and 2005 European Control Conference, CDCECC’ 05, Seville, Spain (pp. 5293–5297).
  • Chaumette, F., & Hutchinson, S. (2006). Visual servo control. I. Basic approaches. IEEE Robotics & Automation Magazine, 13(4), 82–90. doi: 10.1109/MRA.2006.250573
  • Chaumette, F., & Hutchinson, S. (2007). Visual servo control. II. Advanced approaches [tutorial]. IEEE Robotics & Automation Magazine, 14(1), 109–118. doi: 10.1109/MRA.2007.339609
  • Cheah, C. C., Hirano, M., Kawamura, S., & Arimoto, S. (2003). Approximate Jacobian control for robots with uncertain kinematics and dynamics. IEEE Transactions on Robotics and Automation, 19(4), 692–702. doi: 10.1109/TRA.2003.814517
  • Cheah, C. C., Kawamura, S., & Arimoto, S. (2003). Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties. Automatica, 39(5), 847–855. doi: 10.1016/S0005-1098(03)00002-5
  • Cheah, C. C., Liu, C., & Slotine, J. (2005). Adaptive jacobian tracking control of robots based on visual task-space information. Proceedings of the 2005 IEEE international conference on Robotics and Automation, ICRA 2005, Barcelona, Spain (pp. 3498–3503).
  • Cheah, C. C., Liu, C., & Slotine, J. J. E. (2006). Adaptive tracking control for robots with unknown kinematic and dynamic properties. The International Journal of Robotics Research, 25(3), 283–296. doi: 10.1177/0278364906063830
  • Cheah, C. C., Liu, C., & Slotine, J. J. E. (2010). Adaptive Jacobian vision based control for robots with uncertain depth information. Automatica, 46(7), 1228–1233. doi: 10.1016/j.automatica.2010.04.009
  • Cheng, L., Hou, Z. G., Tan, M., & Zhang, W. J. (2012). Tracking control of a closed-chain five-bar robot with two degrees of freedom by integration of an approximation-based approach and mechanical design. IEEE Transactions on Systems Man & Cybernetics Part B Cybernetics, 42(5), 1470–1479. doi: 10.1109/TSMCB.2012.2192270
  • Cheng, L., Lin, Y., Hou, Z. G., Tan, M., Huang, J., & Zhang, W. J. (2011). Adaptive tracking control of hybrid machines: A closed-chain five-bar mechanism case. IEEE/ASME Transactions on Mechatronics, 16(6), 1155–1163. doi: 10.1109/TMECH.2010.2083680
  • Dixon, W. E., Zergeroglu, E., Fang, Y., & Dawson, D. M. (2002). Object tracking by a robot manipulator: A robust cooperative visual servoing approach. Proceedings 2002 IEEE international conference on Robotics and Automation, ICRA, Washington, DC (Vol. 1, pp. 211–216).
  • Hashimoto, H., Kubota, T., Sato, M., & Harashima, F. (1992). Visual control of robotic manipulator based on neural networks. IEEE Transactions on Industrial Electronics, 39(6), 490–496. doi: 10.1109/41.170967
  • Hashimoto, K., & Kimura, H. (1995). Visual servoing with nonlinear observer. Proceedings of 1995 IEEE international conference on Robotics and Automation, Nagoya, Japan (Vol. 1, pp. 484–489).
  • Hashimoto, K., Nagahama, K., & Noritsugu, T. (2002). A mode switching estimator for visual servoing. Proceedings 2002 IEEE international conference on Robotics and Automation, ICRA, Washington, DC (Vol. 2, pp. 1610–1615).
  • He, D., Sun, Z., & Zhang, W. J. (2011). A note on inverse kinematics of hybrid actuation robots for path design problems. ASME 2011 International Mechanical Engineering Congress and Exposition, Denver, CO (pp. 1265–1271).
  • Khalil, H. K. (2002). Nonlinear systems (3rd ed.). Upper Saddle River, NJ: Prentice-Hall.
  • Liang, X., Huang, X., Wang, M., & Zeng, X. (2011). Improved stability results for visual tracking of robotic manipulators based on the depth-independent interaction matrix. IEEE Transactions on Robotics, 27(2), 371–379. doi: 10.1109/TRO.2011.2106331
  • Liang, X., Wang, H., Liu, Y. H., Chen, W., & Zhao, J. (2015). A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration. Automatica, 59, 97–105. doi: 10.1016/j.automatica.2015.06.018
  • Liu, Y. H., Wang, H., Wang, C., & Lam, K. K. (2006). Uncalibrated visual servoing of robots using a depth-independent interaction matrix. IEEE Transactions on Robotics, 22(4), 804–817. doi: 10.1109/TRO.2006.878788
  • Malis, E., Chaumette, F., & Boudet, S. (1999). 2.5 d visual servoing. IEEE Transactions on Robotics and Automation, 15(2), 238–250. doi: 10.1109/70.760345
  • Nagahama, K., Hashimoto, K., Noritsugu, T., & Takaiawa, M. (2000). Visual servoing based on object motion estimation. IEEE/RSJ international conference on Intelligent Robots and Systems, Takamatsu, Japan (pp. 245–250).
  • Papanikolopoulos, N. P., & Khosla, P. K. (1993). Adaptive robotic visual tracking: Theory and experiments. IEEE Transactions on Automatic Control, 38(3), 429–445. doi: 10.1109/9.210141
  • Piepmeier, J. A., McMurray, G. V., & Lipkin, H. (2004). Uncalibrated dynamic visual servoing. IEEE Transactions on Robotics and Automation, 20(1), 143–147. doi: 10.1109/TRA.2003.820923
  • Shen, Y., Sun, D., Liu, Y. H., & Li, K. (2003). Asymptotic trajectory tracking of manipulators using uncalibrated visual feedback. IEEE/ASME Transactions on Mechatronics, 8(1), 87–98. doi: 10.1109/TMECH.2003.809133
  • Slotine, J. J. E., & Li, W. (1987). On the adaptive control of robot manipulators. The International Journal of Robotics Research, 6(3), 49–59. doi: 10.1177/027836498700600303
  • Tao, L., & Hui, Z. (2017). Global finite-time adaptive control for uncalibrated robot manipulator based on visual servoing. Isa Transactions, 68, 402–411. doi: 10.1016/j.isatra.2016.10.006
  • Wang, D., Liu, D., & Wei, Q. (2012). Finite-horizon neuro-optimal tracking control for a class of discrete-time nonlinear systems using adaptive dynamic programming approach. Neurocomputing, 78(1), 14–22. doi: 10.1016/j.neucom.2011.03.058
  • Wang, H. (2015). Adaptive visual tracking for robotic systems without image-space velocity measurement. Automatica, 55, 294–301. doi: 10.1016/j.automatica.2015.02.029
  • Wang, H., Guo, D., Xu, H., Chen, W., Liu, T., & Leang, K. K. (2017). Eye-in-hand tracking control of a free-floating space manipulator. IEEE Transactions on Aerospace & Electronic Systems, 53(4), 1855–1865. doi: 10.1109/TAES.2017.2674218
  • Wang, H., Liu, Y. H., & Chen, W. (2010). Uncalibrated visual tracking control without visual velocity. IEEE Transactions on Control Systems Technology, 18(6), 1359–1370. doi: 10.1109/TCST.2010.2041457
  • Wang, H., Liu, Y. H., Chen, W., & Wang, Z. (2011). A new approach to dynamic eye-in-hand visual tracking using nonlinear observers. IEEE/ASME Transactions on Mechatronics, 16(2), 387–394. doi: 10.1109/TMECH.2009.2039941
  • Wang, H., Liu, Y. H., & Zhou, D. (2007). Dynamic visual tracking for manipulators using an uncalibrated fixed camera. IEEE Transactions on Robotics, 23(3), 610–617. doi: 10.1109/TRO.2007.895091
  • Wang, H., Yang, B., Liu, Y., Chen, W., Liang, X., & Pfeifer, R. (2016). Visual servoing of soft robot manipulator in constrained environments with an adaptive controller. IEEE/ASME Transactions on Mechatronics, 22(1), 41–50. doi: 10.1109/TMECH.2016.2613410
  • Wang, H., Yang, B., Wang, J., Liang, X., Chen, W., & Liu, Y. (2018). Adaptive visual servoing of contour features. IEEE/ASME Transactions on Mechatronics, 23(2), 811–822. doi: 10.1109/TMECH.2018.2794377
  • Wu, X. C., Zhang, W. J., & Sammynaiken, R. (2008). Dynamic tracking of a nano-particle in fluids under Brownian motions. Journal of Physics: Conference Series, 127, 012007.
  • Zergeroglu, E., Dawson, D. M., Querioz, M. S. D., & Behal ,A. (2001). Vision-based nonlinear tracking controllers with uncertain robot-camera parameters. IEEE/ASME Transactions on Mechatronics, 6(3), 322–337. doi: 10.1109/3516.951370
  • Zhang, A., Lai, X., Wu, M., & She, J. (2014). Global stabilization of underactuated spring-coupled three-link horizontal manipulator using position measurements only. Applied Mathematical Modelling, 39(7), 1917–1928. doi: 10.1016/j.apm.2014.10.010
  • Zhang, F., Dawson, D. M., Queiroz, M. S. D., & Dixon, W.E. (2000). Global adaptive output feedback tracking control of robot manipulators. IEEE Transactions on Automatic Control, 45(6), 1203–1208. doi: 10.1109/9.863607

Reprints and Corporate Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

To request a reprint or corporate permissions for this article, please click on the relevant link below:

Academic Permissions

Please note: Selecting permissions does not provide access to the full text of the article, please see our help page How do I view content?

Obtain permissions instantly via Rightslink by clicking on the button below:

If you are unable to obtain permissions via Rightslink, please complete and submit this Permissions form. For more information, please visit our Permissions help page.