Robust second order sliding mode control for 6D position based visual servoing with a redundant mobile manipulator

This paper presents a second order sliding mode controller for Position-Based Visual Servoing. The pose of a 7 DoF robot arm is controlled in position and orientation using visual information from a monocular camera. To handle large errors produced by the initial error condition or by occlusions in the field of view an additional bias function is introduced… CONTINUE READING