Earticle

As the wheeled mobile robot is widely used in various fields, requirements of control accuracy for wheeled mobile robot are also increasing. Vision sensors get more and more attention because they are information capacity, high efficiency, non-contact measurement. The servo control problem of robot visual has also become a research hot spot. Dividing from the number of vision sensors, visual servo system can be divided into monocular visual servo system, binocular visual servo system and multi-purpose visual servo system.

In this paper, an image-based robust controller is designed to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experimental results of a 5-link robot manipulator with two degree of freedom.