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

Abstract

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