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http://dx.doi.org/10.5302/J.ICROS.2006.12.3.294

A Robust Visual Feedback Control with Integral Compensation for Robot Manipulators  

Lee Kang-Woong (한국항공대학교 항공전자공학과)
Jie Min-Seok (한국항공대학교 항공전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.3, 2006 , pp. 294-299 More about this Journal
Abstract
This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.
Keywords
robot manipulator; robust control; visual feedback; integral action;
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