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The adaptive image-based trajectory tracking control problem of rigid-link electrically driven (RLED) robotic manipulators is addressed in this paper. A fixed camera configuration is considered and the camera intrinsic and extrinsic parameters are assumed to be unknown. Furthermore, the manipulator dynamic and motor dynamic parameters are assumed to be uncertain and the depths of feature points can...
This paper presents a new controller for locking a moving object in 3-D space at a particular position (for example, the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both the highly nonlinear robot dynamics and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly...
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