Image-based Robust Control of Robot Manipulators using Dynamic Compensator

Abstract

In this paper, we design an image-based robust feedback controller to compensate parametric uncertainties. The proposed controller using dynamic compensation scheme leads to improvement in transient response while achieving asymptotic regulation in the presence of parametric uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experiments of a 5 link SAMSUNG FARA industrial robot manipulator with two degree of freedom.