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.
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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: Huang, DS., Heutte, L., Loog, M. (eds) Advanced Intelligent Computing Theories and Applications. With Aspects of Theoretical and Methodological Issues. ICIC 2007. Lecture Notes in Computer Science, vol 4681. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74171-8_50
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DOI: https://doi.org/10.1007/978-3-540-74171-8_50
Publisher Name: Springer, Berlin, Heidelberg
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