Visual based control scheme for a robotic manipulator with duality of task-space information and friction compensation

This paper presents a new control technique for a robot manipulator with dual task-space information and friction compensation. The control scheme allows the end effector to transit smoothly from Cartesian-space feedback to vision-space feedback when the target is inside the vicinity of the camera. An adaptive term is integrated into the proposed controller to compensate the uncertainty associated with parameters in the friction model, including the Stribeck effect. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed control law for robot manipulator.