Image-Based Robust Control of Robot Manipulators with Integral Actions

In this paper, we propose a robust visual feedback controller with inte gral action for tracking control of n-link robot manipulators in the presence of constant bounded parametric uncertainties. The proposed control input has robust ness to the parametric uncertainty and reduces tracking error in the steady-state. The stability of the closed-loop system is shown by Lyapunov method. The effectiveness of the proposed method is shown by simulation and ex periment results on the 5-link robot manipulators with two degree of freedom.