On the non-calibrated visual based control of planar manipulators: an on-line algebraic identification approach

A new algebraic method, recently developed by the authors for the online identification of uncertain parameters in linear controlled dynamic systems, is used in the complete solution of visual feedback based position trajectory tracking control for planar manipulators, as provided by a fixed camera with completely unknown calibration parameters, such as the scaling factor and camera angular orientation. Digital simulations, including unmodelled computer generated stochastic inputs, illustrate the performance of the proposed closed loop control-identification scheme.