摘要
Thispaperaddressestherobustvisualtrackingofmulti-featurepointsfora3Dmanipulatorwithunknownintrinsicandextrinsicparametersofthevisionsystem.Thisclassofcontrolsystemsarehighlynonlinearcontrolsystemscharacterizedastime-varyingandstrongcouplinginstatesandunknownparameters.ItisfirstpointedoutthatnotonlyistheJacobianimagematrixnonsingular,butalsoitsminimumsingularvaluehasapositivelimit.Thisprovidesthefoundationofkinematicsanddynamicscontrolofmanipulatorswithvisualfeedback.Second,theEulerangleexpressedrotationtransformationisemployedtoestimateasubspaceoftheparameterspaceofthevisionsystem.Basedonthetworesultsabove,andarbitrarilychosenparametersinthissubspace,thetrackingcontrollersareproposedsothattheimageerrorscanbemadeassmallasdesiredsolongasthecontrolgainisallowedtobelarge.Thecontrollerdoesnotusevisualvelocitytoachievehighandrobustperformancewithlowsamplingrateofthevisionsystem.TheobtainedresultsareprovedbyLyapunovdirectmethod.Experimentsareincludedtodemonstratetheeffectivenessoftheproposedcontroller.
出版日期
2007年04月14日（中国期刊网平台首次上网日期，不代表论文的发表时间）
