Sensor based robot control in the presence of uncertainties: bounding the task function tracking errors
Ph. Zanne, Guillaume Morel, Franck Plestan · 2003
This paper focuses on the design of robust motion rate sensor based control of robots. Considering the widely used task function approach of this problem, we first derive a general condition on the control gains with respect to the uncertainties, so as to guarantee bounded tracking errors. This general result is applied to an example case, consisting of a 2-DOF vision based controller. Experimental results of comparing different control strategies are presented.