Approximate Jacobian Feedback Control of Robots with Kinematic Uncertainty and its Application to Visual Servoing.
Chien-Chern CheahKai LiSuguru ArimotoSadao KawamuraPublished in: ICRA (2001)
Keyphrases
- visual servoing
- feedback control
- parallel robot
- image based visual servoing
- control law
- closed loop
- optimal control
- adaptive control
- mobile robot
- end effector
- vision system
- robot control
- control system
- control scheme
- control theory
- nonlinear systems
- motion control
- robot motion
- networked control systems
- robotic systems
- control strategy
- trajectory tracking
- camera motion
- control algorithm
- autonomous robots
- pid controller
- image space
- sliding mode
- d scene
- optimization algorithm
- least squares
- dynamic programming
- robot arm
- video sequences
- real time
- reinforcement learning
- image sequences