Uncalibrated sliding mode visual servoing of uncertain robot manipulators

A new alternative approach to solve the position visual feedback control problem for robot manipulators in fixed camera configuration. The control goal is to move the robot end-effector for tracking tasks. It is assumed that all robot parameters are unknown and the intrinsic and extrinsic CCD camera parameters are uncalibrated. This result is along the line of the control scheme presented by Shen et al., however our controller does neither need knowledge of the analytic Jacobian nor any robot parameters. Simulations results for real parameters of a two degrees-of-freedom manipulator are presented to illustrate the controller's performance.