Dynamical image-based PID uncalibrated visual servoing with fixed camera for tracking of planar robots with a heuristical predictor

Based on a recent state-of-the-art image-based visual feedback control scheme in fixed uncalibrated camera proposed by the authors, the experimental verification is presented. However, image acquisition and processing for closed-loop control introduces technological challenges through the time delay induced by the CCD camera itself. Thus, to preserve the time domain algorithm and to avoid discretization of our nonlinear controller, a practical predictor is introduced to obtain rough estimates of the image at the bandwidth of the robot. The nonlinear dynamics of the planar robot is considered for the stability analysis. Exponential tracking arises due to a chattering-free visual sliding mode using PID controller based on image error trajectories. The experimental setup describes details of the implementation of our previous theoretical results using a fire wire fixed camera, and a direct drive robot for desired image trajectories. All camera and robot parameters are unknown, and experimental results confirm the theoretical results