Design of a robust output feedback controller for robot manipulators using visual feedback

In this paper, we proposed a robust output feedback controller using visual feedback for trajectory control of robot manipulators with bounded parametric uncertainties. The feature extraction by the CCD camera mounted on the end effector makes the desired position. The proposed controller with integral compensation reduces steady state error due to the limitation of high feedback gains. High-gain observer is used to estimate joint velocity. We show that the stability of the control system is asymptotically stable and the output feedback controller recovers the performance achieved under the state feedback controller. The performance of proposed method is demonstrated by experiments on two degree of freedom 5-link robot.