Orthogonalization Principle for Dynamic Visual Servoing of Constrained Robot Manipulators
نویسندگان
چکیده
A monocular visual servoing scheme for constrained robots is considered in this chapter. Inspired by the Orthogonalization Principle (OP) introduced by Suguru Arimoto in the context of robot force control, a Visual Orthogonalization Principle (VOP) is proposed and a novel control scheme for adaptive image-based visual servoing is presented. The scheme guarantees a global exponential convergence for the image-based position-velocity and contact forces even when the robot parameters are considered unknown. The stability of the new control scheme is tested under experiments. The experimental results comply to the theoretical considerations.
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