Overcoming Limitations of Uncalibrated Robotics Visual Servoing by means of Sliding Mode Control and Switching Monitoring Scheme

摘要

Abstract This paper addresses the visual servoing control problem for robot manipulators without using velocity measurements, and considering a fixed but uncalibrated camera with an optical axis perpendicular to the robot workspace. A novel visual servoing strategy via sliding mode control ( SMC ) and a monitoring function based switching scheme is presented to deal with the uncertainties in the camera calibration parameters and to remove any restriction on the unknown camera orientation angle. The developed method provides global stability, disturbance rejection properties, and exact output tracking with better transient performance than adaptive controllers. Experimental results illustrate the robustness and practical feasibility of the proposed scheme.