Image-Based Visual Servoing Control for Robot Manipulator with Actuator Backlash

This paper addresses the adaptive visual servoing control for robotic manipulator under uncalibrated eye-to-hand configuration with unknown actuator backlash. Most existing control approaches to visual servoing manipulator system ignore actuator backlash constraint, which is inevitable in mechanical robot and will significantly affect the dynamic performance. To alleviate the deleterious and undesirable effect caused by the unknown actuator backlash, a smooth adaptive inverse is proposed to compensate the backlash effect. Based on the visual servoing system, a novel updating law is presented to estimate the backlash model parameters. Moreover, an adaptive image-based visual servoing(IBVS) controller is constructed to guarantee the global stability of closed-loop system and the boundary of parameters. The stability of dynamic system and convergence of the image error are proved by Lyapunov method. Lastly, simulations are carried out to validate the availability of the proposed controller.