Robust visual tracking of robot manipulators with uncertain dynamics and uncalibrated camera

摘要

This paper addresses visual servoing of a robot manipulator with uncalibrated intrinsic and extrinsic parameters of the vision system and unknown physical parameters of the manipulator. A novel sliding mode visual feedback scheme is proposed to solve the problem of the robust trajectory tracking of a planar manipulator in the image frame without calibrating the camera parameters. The controller does not use visual velocity so as to achieve high and robust performance with low sampling rate of the vision system. It is proved by Lyapunov direct method that the tracking error of the robot converges to an arbitrarily small neighborhood of zero. The simulation is included to demonstrate the effectiveness of the controller proposed.