Image-based robust control of robot manipulators with image Jacobian and dynamics uncertainties

In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experimental results of a 5-link robot manipulator with two degree of freedom.