Robust visual servoing of robot manipulators with neuro compensation (Q2571794)

The paper under review considers two kinds of robust visual servoing of planar robot manipulators, one is for image uncertainties (associated with robot dynamics and camera system), another is for Jacobian matrix uncertainty. Using Lyapunov method and input-to-state stability technique, it is proved that these robust controllers with neural compensators are stable. The applicability of the approach is shown by presenting of real-time experiments.