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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...
To enhance the safety of a humanoid robot when it is operating a complex environment, a number of methods that combine visual and force information have been presented. These methods are generally divided into two approaches. The first approach is to coordinate the visual controller and force controller in a parallel way, and the second approach is to coordinate them in series. However, these two...
Vision and odometry/attitude and heading reference system (AHRS, three-axial gyroscopes, accelerometers, and magnetometers) sensors fusion strategy is prevalent in the recent years for the robot localization, due to its low cost and effectiveness in global positioning system (GPS)-denied environments. In this paper, a new adaptive estimation algorithm is proposed to estimate the robot position by...
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