The interaction of manipulators with sensors has always been an important goal in the development of robotic system. Such sensor-based systems would have increased funtional capabilities as well as flexibility in the execution of tasks.
This paper proposes a method of describing complicated robotic tasks using feature and servoing a robot manipulator based on feature. By using image feature, robot has contoured the boundary of 2D object. Self-tuning control is used to overcome unknown and nonlinear relation in the feature space to joint space mapping.
As a result, robot has contoured the boundary of 2D object without geometric robot model and absolute end-tip position.
