Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators

This work addresses the visual tracking problem of robot manipulators with non-negligible dynamics using a fixed camera, when the camera-robot system parameters are uncertain. An adaptive strategy is developed for visual servoing systems based on the image-based look-and-move structure to allow the tracking of a 2D reference trajectory, without using image velocity measurements. The adaptive visual servoing problem free of image velocity information is formulated as a relative degree two MIMO adaptive control problem. As a solution, we employ a recently proposed Lyapunov/passivity-based adaptive control scheme based on SDU factorization method. From a cascade control strategy, the resulting online camera calibration scheme is combined with a direct adaptive motion controller for the robot manipulator, which takes into account its uncertain nonlinear dynamics. The overall stability of the adaptive visual servoing system can be proved thanks to the explicit Lyapunov-like functions of both adaptation schemes.