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This paper aims to address the open problem of designing a globally stablevision-based controller for robot manipulators. Accordingly, based on a hybridmechanism, this paper proposes a novel task-space control law attained bytaking the gradient of a potential function in SE(3). The key idea is to employthe Visual Simultaneous Localization and Mapping (VSLAM) algorithm to estimatea robot pose. The estimated robot pose is then used in the proposed hybridcontroller as feedback information. Invoking Barbalats lemma and Lyapunov'sstability theorem, it is guaranteed that the resulting closed-loop system isglobally asymptotically stable, which is the main accomplishment of theproposed structure. Simulation studies are conducted on a six degrees offreedom (6-DOF) robot manipulator to demonstrate the effectiveness and validatethe performance of the proposed VSLAM-based control scheme.

Task Space Control of Robot Manipulators based on Visual SLAM