Nonlinear controllability and stability analysis of adaptive image-based systems

In this paper, a novel adaptive visual feedback scheme is presented to solve the problem of controlling the relative pose between a robot camera and a rigid object of interest. By exploiting nonlinear controllability properties, uniform asymptotic stability in the large of the image reference set-point is proved using Lyapunov´s direct method. Moreover, uniform boundedness of the whole state vector is ensured by using an adaptive nonlinear control scheme, in case of unknown object depth. Experimental results with a six-degree-of-freedom robot manipulator endowed with a camera on its wrist validate the framework