Adaptive 3D Visual Servoing of a Scara Robot Manipulator with Unknown Dynamic and Vision System Parameters

In the present work, we develop an adaptive dynamic controller based on monocular vision for tracking of objects with a three-degrees freedom (DOF) Scara robot manipulator. The main characteristic proposed control scheme is that it considers dynamics, depth moving object, and mounting fixed camera to be unknown. design algorithm kinematic visual servo whose objective even uncertainties in parameters its mounting. also includes cascade former one compensate dynamics manipulator by generating final actions model. Using Lyapunov’s theory, analyze two controllers stability properties, and, through simulations, performance complete shown.