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Robot visual servoing with iterative learning control
Jiang, Ping Unbehauen, R.
Jiang, Ping
Unbehauen, R.
Publication Date
2002
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© 2002 IEEE. Reprinted from IEEE Transactions on Systems, Man and Cybernetics - Part A: Systems and Humans. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Bradford's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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Abstract
This paper presents an iterative learning scheme for vision guided
robot trajectory tracking. At first, a stability criterion for designing
iterative learning controller is proposed. It can be used for a system with
initial resetting error. By using the criterion, one can convert the design
problem into finding a positive definite discrete matrix kernel and a more
general form of learning control can be obtained. Then, a three-dimensional
(3-D) trajectory tracking system with a single static camera to realize robot
movement imitation is presented based on this criterion.
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Citation
Jiang P and Unbehauen R (2002) Robot visual servoing with iterative learning control. IEEE Transactions on Systems, Man and Cybernetics - Part A: Systems and Humans. 32(2): 281-287.
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