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• W2591908079 abstract "The visual servoing based pickup (or grasping, tracking, etc.) of moving objects has attracted many academic researchers and industrial engineers over the past two decades, and numerous control strategies are proposed for this challenging problem. The controller proposed in this paper follows the Position Based Visual Servoing (PBVS) paradigm. Most of the PBVS controllers, if not all, are designed assuming that the position of the manipulator end effector and that of the moving object have been accurately recovered with the vision-based estimators. Therefore the rigorous stabilities of such controller/estimator strategies cannot be promised due to the separation principle does not hold for the general nonlinear systems. Accordingly, a new PBVS controller is proposed in this paper for the visual servoing based pickup of moving objects by embedding two novel adaptive estimators into this new controller to estimate the position of the manipulator end effctor and that of the moving object online. It is proved by Lyapunov theory that the developed adaptive controller/estimator strategy gives rise to the asymptotic pickup of moving objects and the convergence of the estimated positions to the actual ones. An experiment is conducted to validate the effectiveness of the proposed controller/estimator strategy." @default.
• W2591908079 created "2017-03-16" @default.
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• W2591908079 date "2016-12-01" @default.
• W2591908079 modified "2023-09-28" @default.
• W2591908079 title "Visual Servoing based pickup of moving objects with a kinematically controlled manipulator" @default.
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• W2591908079 doi "https://doi.org/10.1109/robio.2016.7866380" @default.
• W2591908079 hasPublicationYear "2016" @default.
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