A novel adaptive sliding mode visual tracking control for an uncalibrated robot system with unknown robat and camera parameters

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