Adaptive task-space tracking control for uncalibrated eye-to-hand systems with dynamic uncertainties

In this paper, an adaptive task-space tracking control approach is designed by using the error caused by manipulator's dynamic uncertainties and unknown camera calibration parameters. Due to the different uncertainties, the input signal of controller is designed in two steps. Firstly, an adaptive task-space tracking controller is designed to compensate the robotic dynamic uncertainty. Then, an adaptive camera calibration controller is established to ensure bounded image-space tracking error. Finally, an uniform controller is combined by using the errors in both image-space and task-space. Results of experiments show the effectiveness of the proposed method.