Vision-based PID regulation of robotic manipulators without velocity measurements

This paper addresses the asymptotic regulation problem of robot manipulators with a vision-based feedback and position measurements only. A simple image-based output feedback transpose Jacobian proportional-integral-derivative (PID) control is proposed. The closed-loop system formed by the proposed output feedback PID (OPID) control, filter and robot system is shown to be asymptotical stable by using Lyapunov´s direct method and LaSalle´s invariance theorem. Advantages of the proposed control include the absence of dynamical model in the control law formulation and the control gains are easy chosen according to simple inequalities including some well-known bounds extracted from robot dynamics and kinematics. Simulations performed on a two degree-of-freedom (DOF) manipulator are provided to illustrate the effectiveness of the proposed approach.