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As we know, the dynamic visual-tracking control, which is based on the depth-independent interaction matrix, has been proposed to cope with the general 3-D motion of robot manipulators. To deal with the unknown camera parameters, an adaptive law has been designed. It is noted, however, that the designed adaptive law uses a vector signal defined by the true depths of feature points, which are unavailable...
A control scheme based on fuzzy adaptive PID with a Modified Smith Predicator (MSP) for the control of micromanipulation is proposed. For the vision delay, a timing modeling of visual servoing system is built. According to analysis for the position based dynamic look and move control scheme, the control scheme employs fuzzy PID with a similar structure to the Smith predictor called modified Smith...
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