A Calibration-free, Self-adjusting Stereo Visual Control System
نویسندگان
چکیده
The purpose of this paper is to describe a self-adjusting, vision-based controller which is able to control the position of a robotic manipulator without explicit calibration of camera parameters. The control strategy is based on the concepts of cyclic switching (Pait 1993) and dwell-time switching (Morse 1995a). With these techniques, it is possible to design and implement a supervisory control system capable of transferring to and holding at a prescribed set-point, the output of a process modeled by a dynamical system with large scale parametric uncertainty.
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