Vision-based nonlinear tracking controllers with uncertain robot-camera parameters

This paper considers the problem of position tracking control of planar rob ot manipulators via visual servoing in the presence of parametric uncertain ty associated with the robot mechanical dynamics and/or the camera system. Specifically, by assuming exact knowledge of the mechanical parameters, we design an adaptive camera calibration controller that compensates for uncer tain camera parameters and ensures global asymptotic position tracking. We then develop an adaptive robot controller that accounts for parametric unce rtainty throughout the entire robot-camera system while producing global as ymptotic position tracking. Experimental results illustrating the viability of the adaptive controllers and extensions regarding robust control and re dundant robot manipulators are also included.