Discrete-Time Visual Servoing Control with Adaptive Image Feature Prediction Based on Manipulator Dynamics.
Chenlu LiuChao YeHongzhe ShiWeiyang LinPublished in: Sensors (2024)
Keyphrases
- visual servoing
- end effector
- robotic arm
- vision system
- robotic manipulator
- trajectory tracking
- image based visual servoing
- control law
- mobile robot
- robot control
- image features
- control system
- camera motion
- adaptive control
- tracking error
- visual feedback
- dynamic model
- image space
- degrees of freedom
- control method
- control algorithm
- object recognition
- inverse kinematics
- physical constraints
- robot arm
- closed loop
- path planning
- model free
- computer vision
- sliding mode
- prediction model