Toward State-Unsaturation Guaranteed Fault Detection Method in Visual Servoing of Soft Robot Manipulators.

Haoyuan Gu Hesheng Wang Weidong Chen

Published in: IROS (2021)

Keyphrases

detection method
visual servoing
robot manipulators
end effector
detection algorithm

control scheme
image based visual servoing
vision system
inverse kinematics
control law

mobile robot
dynamic model
genetic algorithm
robot control
camera motion

pid controller
fault diagnosis
sliding mode
dynamic programming