Asymptotic motion control of robot manipulators using uncalibrated visual feedback

摘要

To implement a visual feedback controller, it is necessary to calibrate the homogeneous transformation matrix between the robot base frame and the vision frame besides the intrinsic parameters of the vision system. The calibration accuracy greatly affects the control performance. In this paper, we address the problem of controlling a robot manipulator using visual feedback without calibrating the transformation matrix. We propose an adaptive algorithm to estimate the unknown matrix online. It is proved by the Lyapunov method that the robot motion approaches asymptotically to the desired one and the estimated matrix is bounded under the control of the proposed visual feedback controller. The performance was confirmed by simulations and experiments.