{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,21]],"date-time":"2025-06-21T04:07:00Z","timestamp":1750478820576,"version":"3.41.0"},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2014,4,29]],"date-time":"2014-04-29T00:00:00Z","timestamp":1398729600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title>\n\t  <jats:p>A new image-based controller is proposed for the robotic system with the joint velocity signals unavailable. The Immersion and Invariance (I&amp;I) observer is applied to estimate the unknown velocity information. Compared with the general velocity observer, the I&amp;I observer can estimate the unknown velocity exponentially. We consider the case that the exact camera parameters are not known. The corresponding adaptive controller is designed for the robot system and the stability is rigorously proven by using Lyapunov theorem. Finally, simulations are performed and the results show the effectiveness of the proposed control approach.<\/jats:p>","DOI":"10.1017\/s0263574714001015","type":"journal-article","created":{"date-parts":[[2014,4,29]],"date-time":"2014-04-29T13:29:33Z","timestamp":1398778173000},"page":"1718-1730","source":"Crossref","is-referenced-by-count":2,"title":["Image-based robotic control with unknown camera parameters and joint velocities"],"prefix":"10.1017","volume":"33","author":[{"given":"Changchun","family":"Hua","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yinjuan","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yana","family":"Yang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,4,29]]},"reference":[{"key":"S0263574714001015_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.538972"},{"key":"S0263574714001015_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2011.05.007"},{"key":"S0263574714001015_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2013.01.047"},{"key":"S0263574714001015_ref2","first-page":"1352","volume-title":"Proceedings of the IEEE International Conference on Robotica and Automation","author":"Malis","year":"1998"},{"key":"S0263574714001015_ref6","first-page":"2267","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Hashimoto","year":"1991"},{"key":"S0263574714001015_ref11","doi-asserted-by":"crossref","first-page":"804","DOI":"10.1109\/TRO.2006.878788","article-title":"Uncelebrated visual servoing of robots using a depth-independent interaction matrix","volume":"22","author":"Liu","year":"2006","journal-title":"IEEE Trans. Robot."},{"key":"S0263574714001015_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.1019475"},{"key":"S0263574714001015_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/3516.828588"},{"key":"S0263574714001015_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0109663"},{"key":"S0263574714001015_ref19","doi-asserted-by":"crossref","unstructured":"A. Astolfi , R. Ortega and A. Venkatraman . \u201cA Globally Exponentially Convergent Immersion and Invariance Speed Observer for N Degrees of Freedom Mechanical Systems,\u201d Proceedings of the IEEE Conference on Decision and Control (2009) pp. 6508\u20136513.","DOI":"10.1109\/CDC.2009.5399984"},{"key":"S0263574714001015_ref15","first-page":"7","volume-title":"Proceedings of the IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems","author":"Liang","year":"2011"},{"key":"S0263574714001015_ref12","doi-asserted-by":"crossref","first-page":"1359","DOI":"10.1109\/TCST.2010.2041457","article-title":"Uncelebrated visual tracking control without visual velocity","volume":"18","author":"Liu","year":"2010","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"S0263574714001015_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2106331"},{"key":"S0263574714001015_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/70.954764"},{"key":"S0263574714001015_ref14","first-page":"1698","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automatics","author":"Su","year":"2010"},{"key":"S0263574714001015_ref10","first-page":"748","article-title":"Vision-based adaptive tracking control of uncertain robot manipulators","volume":"21","author":"Maruthi","year":"2005","journal-title":"IEEE Trans. Robot."},{"key":"S0263574714001015_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2003.809820"},{"key":"S0263574714001015_ref18","doi-asserted-by":"crossref","unstructured":"C. Hua , Y. Liu and J. Leng , \u201cVisual-Based Robotic Control Without Joint Velocities,\u201d Proceedings of the 12th International Conference on Control, Automation, Robotics & Vision (2012) pp. 1262\u20131267.","DOI":"10.1109\/ICARCV.2012.6485326"},{"key":"S0263574714001015_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2011.10.001"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714001015","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,20]],"date-time":"2025-06-20T21:20:58Z","timestamp":1750454458000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714001015\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,29]]},"references-count":19,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2015,7]]}},"alternative-id":["S0263574714001015"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714001015","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2014,4,29]]}}}