A CALIBRATION-FREE, SELF-ADJUSTING STEREO VISUAL CONTROL SYSTEM

The purpose of this paper is to describe a self-adjusting, vision-based controller which is able to control the position of a robotic manipulator without explicit calibration of camera parameters. The control strategy is based on the concepts of cyclic switching (Pait 1993) and dwell-time switching (Morse 1995a). With these techniques, it is pos-sible to design and implement a supervisory control system capable of transferring to and holding at a prescribed set-point, the output of a process modeled by a dynamical system with large scale parametric uncertainty.

作 者：

Wen-Chung ChangA. S. MorseGregory D. Hager

母体文献：

Proceedings of the 13th World Congress : 

会议名称：

 13th 

会议时间：

1996年01月01日 

会议地点：

San Francisco 

馆藏号：

73.823083/I61:1996(A) 

语 种：

eng 

分类号：

 

关键词：

Robotic manipulatorsRobot visionSelf-adjusting systemsSwitching algorithmsSupervisory controlSet-point control

基金项目：