Sensor based robot control in the presence of uncertainties: bounding the task function tracking errors

This paper focuses on the design of robust motion rate sensor based control of robots. Considering the widely used task function approach of this problem, we first derive a general condition on the control gains with respect to the uncertainties, so as to guarantee bounded tracking errors. This general result is applied to an example case, consisting of a 2-DOF vision based controller. Experimental results of comparing different control strategies are presented.