Model-Based Visual Control for Robotic Manipulators Using Udwadia Kalaba Formulation

Abstract This work presents the development of a model-based visual control strategy for robotic manipulators performing target tracking. The proposed approach leverages fiducial-based techniques for target identification with the Udwadia-Kalaba (UK) formulation for constrained robotic motion control. Using Baumgarte’s approach leads to a model-based visual control strategy capable of stable behavior when discontinuities are present in the desired trajectory that the robot has to follow, as well as when there are uncertainties in the dynamic model of the system. The control strategy is tested in simulation with a 4-DOF Reach Alpha 5 manipulator using real-world visual target tracking. The qualitative and quantitative evaluation of the strategy shows its capabilities in accurately tracking the desired trajectories.