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Title: Adaptive visual servo regulation control for camera-in-hand configuration with a fixed camera extension
Authors: Tatlıcıoğlu, Enver
Dawson, Darren M.
Xian, B.
Keywords: Adaptive control systems
Camera calibration
Uncalibrated visual servoing
Visual servo
Issue Date: 2007
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension.
ISSN: 0191-2216
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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