Visual servoing of robot manipulator without camera calibration

Abstract

In this paper, visual-based feedback control laws are proposed for setpoint control of robots without camera and kinematic calibrations. Sufficient conditions for the bounds of the calibration errors and stability conditions for the feedback gains are presented to guarantee the stability of the robots' motion. Visual-based gravity regressor is also proposed for gravitational force compensation when the gravitational force is uncertain. Simulation results are presented to illustrate the performance of the proposed controllers.