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In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators with parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in transient response while achieving asymptotic regulation in the presence of parametric uncertainties. The ultimate uniform(More)
In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators under parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in the transient response and fast convergence of tracking error to a neighborhood of zero in the steady-state. The uniformly ultimate(More)
In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved(More)
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