Adaptive Vision and Force Tracking Control of Constrained Robots with Structural Uncertainties

In many applications of robot manipulators, the end-effector is required to make contact with environment. In these applications, it is necessary to control not only the position but also the interaction force between the robot end-effector and environment. Most research so far on motion and force tracking control has assumed that the kinematics and constraint surface are exactly known. In this paper, we propose a visually-servoed adaptive Jacobian controller for motion and force tracking control with structural uncertainties in kinematics, dynamics and constraint surface. It is shown that uniform ultimate boundedness of the tracking errors can be guaranteed. Simulation results are presented to illustrate the performance of the proposed control law.