Vision-based PID control of planar robots

The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.