Image-Based Robust Control of Robot Manipulators with Integral Actions

Min Seok Jie²⁰ &
Kang Woong Lee²⁰

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3991))

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International Conference on Computational Science

Abstract

In this paper, we propose a robust visual feedback controller with inte gral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robust ness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation and ex periment results on the 5-link robot manipulators with two degree of freedom.

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A new decoupled control law for image-based visual servoing control of robot manipulators

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Authors and Affiliations

School of Electronics, Telecommunication and Computer Engineering, Hankuk Aviation University, 200-1, Hwajeon-dong, Deokyang-gu, Koyang-city, Kyonggi-do, 412-791, Korea
Min Seok Jie & Kang Woong Lee

Authors

Min Seok Jie
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Kang Woong Lee
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Editors and Affiliations

Advanced Computing and Emerging Technologies Centre, The School of Systems Engineering, University of Reading, RG6 6AY, Reading, United Kingdom
Vassil N. Alexandrov
Department of Mathematics and Computer Science, University of Amsterdam, Kruislaan 403, 1098, Amsterdam, SJ, The Netherlands
Geert Dick van Albada
Faculty of Sciences, Section of Computational Science, University of Amsterdam, Kruislaan 403, 1098, Amsterdam, SJ, The Netherlands
Peter M. A. Sloot
Computer Science Department, University of Tennessee, 37996-3450, Knoxville, TN, USA
Jack Dongarra

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Jie, M.S., Lee, K.W. (2006). Image-Based Robust Control of Robot Manipulators with Integral Actions. In: Alexandrov, V.N., van Albada, G.D., Sloot, P.M.A., Dongarra, J. (eds) Computational Science – ICCS 2006. ICCS 2006. Lecture Notes in Computer Science, vol 3991. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11758501_19

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DOI: https://doi.org/10.1007/11758501_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-34379-0
Online ISBN: 978-3-540-34380-6
eBook Packages: Computer ScienceComputer Science (R0)

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