A novel adaptive sliding mode visual tracking control for an uncalibrated robot system with unknown robat and camera parameters
محل انتشار: کنفرانس ملی اتوماسیون برق و کنترل صنعتی
سال انتشار: 1395
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 712
فایل این مقاله در 7 صفحه با فرمت PDF قابل دریافت می باشد
- صدور گواهی نمایه سازی
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
PSAIC01_019
تاریخ نمایه سازی: 19 خرداد 1396
چکیده مقاله:
in this article a novel visual feedback control model for fix camera configuration is proposed using non - linear controller has many advantages. Robustness can be noted as the most important beneflt of this type of controller. It is very important for visual servo systems to be robust in presence of uncertainty in robot dynamic and external distubances like payload varlation, calibratlion error in vision system . We design a novel robust adaptive sliding mode controller for a position based visual servoing systems, the robustness and capbilities of the proposed approach are investigated in simulation for an example robot.
کلیدواژه ها:
visual feedback control ، fix camera configuation ، non-linear ، calibration error ، robust adaptive sliding mode
نویسندگان
behnam madadnia
department of electrical engineering bu-ali sina university hamedan, iran
hasan talebi abatari
department of mechatronic engineering science and research branch islamic azad university tehran,iran
hamid hajimohamadi
department of mechanic and aerospace engineering science and research branch islamic azad university tehran, iran