Abstract
Visual servoing of constrained robots has not yet met a formal treatment nor its friction compensation. This kind of robots moves slowly along the constrained surface due to technological limitations of the camera system, therefore important problems of friction at the joint and contact point arise. The problem turns very complicated when parametric uncertainty on robot, camera and friction is considered. In this paper, a new visual servoing scheme that satisfy this problem is presented. It induces sliding modes without chattering to guarantee locally exponential convergence of tracking errors. Simulations results are presented and discussed.
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