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This paper presents a visual-inertial-based control strategy to address thetask space control problem of robot manipulators. To this end, anobserver-based hybrid controller is employed to control end-effector motion. Inaddition, a hybrid observer is introduced for a visual-inertial navigationsystem to close the control loop directly at the Cartesian space by estimatingthe end-effector pose. Accordingly, the robot tip is equipped with an inertialmeasurement unit (IMU) and a stereo camera to provide task-space feedbackinformation for the proposed observer. It is demonstrated through the Lyapunovstability theorem that the resulting closed-loop system under the proposedobserver-based controller is globally asymptotically stable. Besides thisnotable merit (global asymptotic stability), the proposed control methodeliminates the need to compute inverse kinematics and increases trajectorytracking accuracy in task-space. The effectiveness and accuracy of the proposedcontrol scheme are evaluated through computer simulations, where the proposedcontrol structure is applied to a 6 degrees-of-freedom long-reach hydraulicrobot manipulator.

Hybrid Controller for Robot Manipulators in Task-Space with Visual-Inertial Feedback