Abstract
In this paper, an image-based robust controller for tracking control of robot manipulators using a single camera is proposed. The proposed controller has robustness to parametric uncertainties of the robot manipulator and compensation for uncertainties included in the image Jacobian. The stability of the closed-loop system is proved by Lyapunov approach. The performance of the proposed method is demonstrated by experiments on a 5-link robot manipulator with two degree of freedom. © Springer-Verlag Berlin Heidelberg 2007.
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CITATION STYLE
Kim, C. S., Mo, E. J., Jie, M. S., Hwang, S. C., & Lee, K. W. (2007). Image-based robust control of robot manipulators under Jacobian uncertainty. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4681 LNCS, pp. 502–510). Springer Verlag. https://doi.org/10.1007/978-3-540-74171-8_50
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