Control of Robot Manipulators Using Robust Visual Feedback Controller with Integrator

적분기를 포함하는 시각궤환 강인제어기를 사용한 로봇 제어

In this paper, we propose a robust visual feedback controller with integral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robustness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation results on the 5-link robot manipulators with two degree of freedom.