Adaptive Visual Control of Robotic Manipulator With Uncertainties in Kinematics and Dynamics

In this paper, we develop a novel adaptive scheme for uncalibrated visual feedback systems of robotic manipulators to address the uncertainties in the kinematics and dynamics, which resulted from unknown parameters in the camera and the robotic manipulator’s physical model. A mixed estimated method is adopted to parameterize and estimate those unknown parameters in a practical model. To ensure the capability of the introduced controller, we claim novel adaptive algorithms to make the estimated errors of those unknown parameters converge to a small range. Numerical simulations confirm the validity of the presented scheme, whose image tracking error converges asymptotically towards zero via the Lyapunov method.