Visual based tracking of planar robot arms: a scheme using projection matrix

Abstract

In this paper, we develop a new control strategy for a planar robot arm with hand-eye configuration. The control law uses the projection matrix instead of the position feedback in task space to perform the visual servoing. This is the extension of our previous work on the friction and gravity torques estimation and compensation for robot arms. A tracking control simulation program was written to illustrate the performance of the proposed controller.