Adaptive Neural Network-based Visual Servoing with Integral Sliding Mode Control for Manipulator

It is difficult to estimate the relationship between the motion of joint and the motion of image features, making the Calibration-free visual servoing control challenging. In traditional methods, the hand-eye relationship is usually approximated in purely online or offline ways. A practical scheme f...

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Veröffentlicht in:	Chinese Control Conference S. 3567 - 3572
Hauptverfasser:	Zeng, Haibin, Lu, Zhihui, Lv, Yueyong, Qi, Jiaming
Format:	Tagungsbericht
Sprache:	Englisch
Veröffentlicht:	Technical Committee on Control Theory, Chinese Association of Automation 25.07.2022
Schlagworte:	Adaptation models end-effector positioning Estimation Jacobian matrices Jacobian matrix Manipulators online update RBFN Simulation Training uncalibrated visual servoing Visualization
ISSN:	1934-1768
Online-Zugang:	Volltext
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