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https://hdl.handle.net/11147/9721
Title: | Adaptive Visual Servo Regulation Control for Camera-In Configuration With a Fixed Camera Extension | Authors: | Tatlıcıoğlu, Enver Dawson, Darren M. Xian, B. |
Keywords: | Adaptive control systems Visual servo Camera calibration Uncalibrated visual servoing |
Publisher: | ACTA Press | Abstract: | In this paper, image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed. To compensate for the unknown camera calibration parameters, a novel prediction error formulation is presented. To achieve the control objectives, a Lyapunov-based adaptive control strategy is employed. The control development for the camera-in-hand problem is presented in detail and a fixed-camera problem is included as an extension. | URI: | https://hdl.handle.net/11147/9721 | ISSN: | 0826-8185 1925-7090 |
Appears in Collections: | Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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