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Open AccessArticle

Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera

National Key Laboratory of Science and Technology of Underwater Vehicle, Harbin Engineering University, No.145 Nantong Street Harbin, Harbin 150001, China
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Sensors 2019, 19(24), 5469; https://doi.org/10.3390/s19245469
Received: 10 November 2019 / Revised: 3 December 2019 / Accepted: 8 December 2019 / Published: 11 December 2019
(This article belongs to the Section Physical Sensors)
This paper presents an uncalibrated visual servoing scheme for underwater vehicle manipulator systems (UVMSs) with an eye-in-hand camera under uncertainties. These uncertainties contain vision sensor parameters, UVMS kinematics and feature position information. At first, a linear separation approach is addressed to collect these uncertainties into vectors, and this approach can also be utilized in other free-floating based manipulator systems. Secondly, a novel nonlinear adaptive controller is proposed to achieve image error convergence by estimating these vectors, the gradient projection method is utilized to optimize the restoring moments. Thirdly, a high order disturbance observer is addressed to deal with time-varying disturbances, and the convergence of the image errors is proved under the Lyapunov theory. Finally, in order to illustrate the effectiveness of the proposed method, numerical simulations based on a 9 degrees of freedom (DOFs) UVMS with an eye-in-hand camera are conducted. In simulations, the UVMS is expected to track a circle trajectory on the image plane, meanwhile, time-varying disturbances are exerted on the system. The proposed scheme can achieve accurate and smooth tracking results during simulations. View Full-Text
Keywords: visual servoing; underwater vehicle manipulator system; uncalibrated camera; adaptive control; disturbance observer visual servoing; underwater vehicle manipulator system; uncalibrated camera; adaptive control; disturbance observer
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Li, J.; Huang, H.; Xu, Y.; Wu, H.; Wan, L. Uncalibrated Visual Servoing for Underwater Vehicle Manipulator Systems with an Eye in Hand Configuration Camera. Sensors 2019, 19, 5469.

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