Second Order Sliding Mode Visual Tracking in Finite Time for Uncertain Planar Manipulators with Uncalibrated Camera
نویسندگان
چکیده
This paper considers the problem of tracking control of planar robot manipulators through visual servoing under uncertain knowledge of the robot and camera parameters for fixed-camera configuration. We designed a controller based on a passivity-based second order sliding mode approach which achieves finite time convergence of tracking errors specified in the screen coordinate frame by introducing a time base generator into the sliding surface. Simulations results for a 2 degrees of freedom direct drive manipulator with uncalibrated CCD camera are presented to illustrate the controller’s performance.
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