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| This paper presents an adaptive visual servoing controller for robot manipulator under uncalibrated eye-to-hand configuration with unknown actuator backlash. Most existing control approaches to visual servoing manipulator system ignore actuator backlash constraint, which is inevitable in mechanical robot and will significantly affect the dynamic performance. To eliminate the deleterious effect of the unknown actuator backlash, a smooth adaptive inverse is proposed to compensate the backlash effect. Based on the visual servoing system, a novel adaptive algorithm is developed to estimate the unknown backlash parameters. Moreover, an adaptive image-based visual servoing controller is constructed to guarantee the global stability of closed-loop system and the boundary of parameters. The stability of the dynamic system and asymptotic convergence of the image error are proved by Lyapunov method. Simulation results validate the effectiveness of the proposed controller. |
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| Keywords:automatic control technology, backlash nonlinearity, visual servoing, adaptive control, eye-to-hand |
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