期刊名称：International Journal of Electronics Communication and Computer Engineering
印刷版ISSN：2249-071X
电子版ISSN：2278-4209
出版年度：2014
卷号：5
期号：4
页码：842-846
出版社：IJECCE
摘要：This article presents an iterative learning scheme for studying the problem of vision guided robot trajectory tracking. Traditionally visual sensing and manipulation are combined in an open-loop fashion, ‘looking’ then ‘moving’. The accuracy of the operation depends directly on the correctness of the visual sensor, manipulator and robot controller. An alternative to increasing the accuracy of these subsystems is to use a visual-feedback control loop, which will increase the overall accuracy of the system, a principle concern in any application. In this paper, the problem visual servoing is studied with a more general point of view under one aspect. It will consist of proposing an uncalibrated visual servoing, which can deal with unknown environment without using a-prior knowledge based on iterative learning method. To show the practical applicability of the proposed method it has been applied to PUMA560 manipulators using a simulation model to confirm that the method can work properly
关键词：Itrative Learning Control ILC; Visual Servoing; Robot Manipulators; Uncalibrated Vision-Based Control
