Image-based robust control of robot manipulators in the presence of uncertainty

Abstract

In this paper, we propose a robust controller with visual feedback for tracking control of robot manipulators in the presence of bounded parametric uncertainties. The proposed control input consists of a nonlinear term to achieve robustness to the parametric uncertainty and feedback terms including the image feature and the joint velocity to guarantee the stability of the closed-loop system. The globally uniformly ultimate boundedness of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation and experiment results on the 5-link robot manipulators with two degree of freedom. © Springer-Verlag Berlin Heidelberg 2006.