ABSTRACT
An adaptive visual servo controller is developed for the fixed camera configuration to enable the end-effector of a robot manipulator to track a desired trajectory determined by an a priori available sequence of images. The control development for the fixed camera problem is presented in detail, and the camera-in-hand problem is included as an extension. To develop the hybrid controllers, a homography-based visual servoing approach is utilized. The motivation for using this approach is that the visual servo control problem can be incorporated with a Lyapunov-based control design strategy to overcome many practical and theoretical obstacles associated with more traditional, purely image-based approaches. By formulating a Lyapunov-based argument, an adaptive update law is developed to actively compensate for the unknown depth parameter. To achieve the objective, a Lyapunov-based adaptive control strategy is employed to actively compensate for the lack of unknown depth measurements and unknown object model parameters.
