Adaptive Control of Visual System and Its Application to Robot Arm

• Main Authors: Yung-Lung Liu, 劉咏龍
• Other Authors: Yu-Te Wu
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/08004570021971690569

碩士 === 國立中央大學 === 電機工程研究所 === 91 === In recent years, the application of robot is extensive. In order to recognize the relative position between robot and working space, CCD is applied to get the image information to orientate . The focus of our work is to achieve real-time tracking object using visual sensory feedback under non-calibrated environment. The image Jacobian, relating robot velocity commands to image feature’s velocity, is derived based on the scheme of three cameras and shown to be a function of camera focal lengths, fiducial’s depths, fiducial’s positions relative to robot reference frame and pose between camera reference frames and object reference frames. We proposed an on-line adaptive control algorithm to recursively estimate the image Jacobian for robot control. If the image jacobian matrix is convergence, the visual system will be stable. Then we will prove the stability of this visual system by Lyapunov function and discuss robust stability bounds of this linear discrete-time system with time-varying uncertainties. From the result of simulation and experimentation, we can get experience dates in mounting cameras. The main advantages of our system is avoiding tedious camera calibration, pose estimation, and ignoring the robot dynamics. Experiment results are presented to demonstrate the effectiveness of the proposed algorithm. Experiments on MITSUBISHI RV-1 robot are presents to demonstrate the effectiveness of the image-based visual servo with our algorithm.