Immersion and invariance adaptive visual servoing of manipulators with uncertain dynamics.
Alessandro R. L. ZachiLiu HsuRomeo OrtegaFernando C. LizarraldePublished in: ACC (2004)
Keyphrases
- visual servoing
- control law
- adaptive control
- image based visual servoing
- vision system
- dynamical systems
- active vision
- mobile robot
- closed loop
- end effector
- camera motion
- path planning
- control algorithm
- control system
- virtual reality
- control strategy
- computer vision
- robotic systems
- optimal control
- image space
- visual feedback
- autonomous robots
- robot control
- dynamic model
- trajectory tracking
- control scheme
- degrees of freedom
- multi modal
- least squares
- dynamic programming
- search space