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The International Journal of Robotics Research
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Dynamic Control of Uncertain Manipulators Through Immersion and Invariance Adaptive Visual Servoing

Alessandro R. L. Zachi

Dept. of Electrical Engineering CEFET/RJ, Rio de Janeiro, Brazil, zachi{at}cefet-rj.br

Liu Hsu

Dept. of Electrical Engineering/COPPE, Federal University of Rio de Janeiro Brazil, liu{at}coep.ufrj.br

Romeo Ortega

Lab. des Signaux et Systèmes, Supelec, Gif-sur-Yvette, France, Romeo.Ortega{at}lss.supelec.fr

Fernando Lizarralde

Dept. of Electrical Engineering/COPPE, Federal University of Rio de Janeiro Brazil, fernando{at}coep.ufrj.br

In this paper a control theoretical solution is presented for the direct adaptive visual dynamic control of planar manipulators using a fixed camera, when both camera calibration and robot dynamics are uncertain. The proposed scheme is developed for image-based look-and-move visual systems to allow tracking of a moving target. In order to solve the multivariable parameter adaptive problem, the recently proposed Immersion and Invariance (I&I) method is used. The scheme is then combined with an adaptive controller for the manipulator, taking into account its nonlinear dynamics. This leads to an overall stable adaptive visual servoing system. An extension of the I&I approach for 3D visual servoing is shown to be possible by a convenient control reparametrization associated with a proper image-based depth control scheme.

Key Words: adaptive visual servoing • immersion and invariance • uncertain manipulator dynamics • uncalibrated camera

The International Journal of Robotics Research, Vol. 25, No. 11, 1149-1159 (2006)
DOI: 10.1177/0278364906072039
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A. C. Leite, F. Lizarralde, and Liu Hsu
Hybrid Adaptive Vision--Force Control for Robot Manipulators Interacting with Unknown Surfaces
The International Journal of Robotics Research, July 1, 2009; 28(7): 911 - 926.
[Abstract] [PDF]