Uncalibrated dynamic mechanical system controller

摘要

An apparatus and method for enabling an uncalibrated, model independent controller for a mechanical system using a dynamic quasi-Newton algorithm which incorporates velocity components of any moving system parameter(s) is provided. In the preferred embodiment, tracking of a moving target by a robot having multiple degrees of freedom is achieved using an uncalibrated model independent visual servo control. Model independent visual servo control is defined as using visual feedback to control a robot's servomotors without a precisely calibrated kinematic robot model or camera model. A processor updates a Jacobian and a controller provides control signals such that the robot's end effector is directed to a desired location relative to a target on a workpiece.