A Robust Visual Servoing Controller for Anthropomorphic Manipulators With Field-of-View Constraints and Swivel-Angle Motion: Overcoming System Uncertainty and Improving Control Performance.
Jiao JiangYaonan WangYiming JiangHe XieHaoran TanHui ZhangPublished in: IEEE Robotics Autom. Mag. (2022)
Keyphrases
- visual servoing
- field of view
- control law
- motion control
- end effector
- ego motion
- motion planning
- control system
- trajectory tracking
- camera motion
- closed loop
- robot arm
- physical constraints
- image based visual servoing
- mobile robot
- adaptive control
- control algorithm
- vision system
- control strategy
- control scheme
- robot control
- optimal control
- sliding mode
- autonomous robots
- path planning
- multiple cameras
- high resolution
- omnidirectional camera
- control method
- humanoid robot
- robotic systems
- degrees of freedom
- optical flow
- image sequences
- real time
- dynamical systems
- image space
- multibody
- autonomous navigation
- structure from motion
- moving objects
- model free
- pid controller
- visual odometry