Tracking adaptive impedance robot control with visual feedback

In this paper we propose a tracking adaptive impedance controller for robot s with visual feedback. It is based on a generalized impedance concept wher e the sensed distance is introduced as a fictitious force to the control in order to avoid obstacles in restricted motion tasks. The controller is des igned to compensate for full non-linear robot dynamics. Robot parameters ad justment is introduced to reduce the sensibility of the controller design t o dynamic uncertainties of the robot and the manipulated load. It is proved that the vision control errors are ultimately bounded in the image coordin ate system. Simulations are carried out to evaluate the controller performa nce.