Adaptive VisionBased Control for RopeClimbing Robot Manipulator While the mechanism of RopeClimbing provides much flexibility, it opens up challenges to the development of the controller for Robotic Manipulator installed on RopeClimbing robot(RCR), which is called RopeClimbing Robot Manipulator(RCRM) here. In particular, the deformable nature of the rope results in the vibration to the manipulator and hence affects the positioning of the end effector. In this paper, a new adaptive visionbased controller is proposed for RCRM, which enables the robot to carry out the highaccuracy task under the unknown vibration from the rope. The proposed controller guarantees the performance of the robot in twofold. First, the control problem is directly formulated in the image space such that the exact spatial relationship between the moving base of the manipulator (due to the vibrating rope) and the target (e.g. the wall) is not required. Second, novel adaptation laws are developed to estimate the vibration from the rope online and are cancelled out in the robot control input to stabilize the end effector. The stability of the closedloop system is rigorously proved with Lyapunov methods, and experimental results are presented to illustrate the performance of the proposed controller.

Global VisionBased Impedance Control for Robotic Wall Polishing Wall polishing is a typical and essential procedure in the interior renovation. However, such works are mainly carried out by humans, which have the disadvantages of low efficiency, inconsistent quality, and issues of safety and health. A new visionbased impedance controller is proposed for polishing robots to automate the laborintensive works. The desired impedance model is specified as the control objective to regulate the dynamic relationship between the interaction force and the motion of the robot end effector, where the motion is measured with the vision feedback. The use of the vision feedback guarantees the performance of the robot from two aspect. First, the vision feedback from the highresolution camera ensures the accuracy of measurement of the robot end effector and hence guarantees the quality of polishing. Second, the concept of image moment is introduced such that the image Jacobian matrix is nonsingular in a global sense, which guarantees the large working range of the robot. The dynamic stability of the closedloop system is rigorously proved with Lyapunov methods, and experimental results are presented to illustrate the performance of the proposed controller.