Visual Servo Based on Model-free Adaptive Control

doi:10.3969/j.issn.1006-2475.2024.01.005

Abstract

Abstract: Abstract: The traditional robot visual servo control technology requires accurate dynamics and kinematics models of known robots and the calibration of camera. However， due to the errors in the robot modeling and camera calibration， it is difficult to accurately build the error model， which affects the positioning accuracy and convergence speed of the robot vision servo system. To solve this problem， this paper proposes a robot vision servo technology based on Model-free Adaptive Control （MFAC）. Using the input and output data of the system， this paper realizes adaptive visual servo control. Namely by the Jacobian matrix in the MFAC online estimation robot servo controller and combining with sliding mode controller， this paper achieves the precise tracking task to targets. The results of simulation experiments show that the proposed method can ensure the smooth convergence of the servo controller under the unknown disturbance caused by the change of system parameters and reduce the system positioning error.

Key words: Key words: visual servo, model-free adaptive control, sliding mode control

CLC Number:

TP242

PENG Zong-yu, HUANG Kai-qi, SU Jian-hua, WANG Li-li. Visual Servo Based on Model-free Adaptive Control[J]. Computer and Modernization, 2024, 0(01): 29-34.

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