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The uncertainties include camera extrinsic and intrinsic parameters, robot dynamic parameters, and feature depth parameters. The control achieves a better performance by establishing a smooth inverse model of the dead-zone input, which eliminates the nonlinear effect of the actuator constraint. A novel adaptive control scheme is presented which does not require a priori knowledge of the parameter intervals of dead-zone model, to update the parameter values online. Furthermore, adaptive laws are provided to estimate the uncertainties that exist both in robot and in camera models. Meanwhile, in order to avoid the singularity of the image Jacobian matrix, a projection algorithm is also introduced. Subsequently, a novel robust adaptive controller together with dead-zone compensation is established so that the tracking error image space converges to the origin. Simulations and experimental studies are conducted to verify the effectiveness of the proposed method.<\/jats:p>","DOI":"10.1177\/01423312241273823","type":"journal-article","created":{"date-parts":[[2024,10,8]],"date-time":"2024-10-08T01:59:11Z","timestamp":1728352751000},"page":"2203-2216","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["Adaptive visual servoing control for uncalibrated robot manipulator with uncertain dead-zone constraint"],"prefix":"10.1177","volume":"47","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5660-3458","authenticated-orcid":false,"given":"YA-Jun","family":"Ma","sequence":"first","affiliation":[{"name":"School of Electrical and Information Engineering, Tianjin University, China"},{"name":"Beijing Institute of Precision Mechatronics and Controls, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0401-2741","authenticated-orcid":false,"given":"Hui","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Electrical Engineering and Automation, Tianjin University of Technology, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Li","sequence":"additional","affiliation":[{"name":"Beijing Research Center of Intelligent Equipment for Agriculture, Beijing Academy of Agriculture and Forestry Sciences, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2024,10,7]]},"reference":[{"key":"e_1_3_3_2_1","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2016.1142617"},{"key":"e_1_3_3_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2056590"},{"key":"e_1_3_3_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2020.2981367"},{"key":"e_1_3_3_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.250573"},{"key":"e_1_3_3_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2006.876943"},{"key":"e_1_3_3_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063830"},{"key":"e_1_3_3_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2066535"},{"key":"e_1_3_3_9_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2162633"},{"key":"e_1_3_3_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2020.01.012"},{"key":"e_1_3_3_11_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-015-2551-x"},{"key":"e_1_3_3_12_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2016.04.002"},{"key":"e_1_3_3_13_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.jfranklin.2019.05.040"},{"key":"e_1_3_3_14_1","volume-title":"Nonlinear Systems","author":"Khalil HK","year":"2001","unstructured":"Khalil HK (2001) Nonlinear Systems (3rd edn). 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