An experimental testbed for visual servo control of robotic manipulators

Abstract

This paper presents an experimental testbed for visual servo control of robotic manipulators. The testbed's flexibility in implementing visual servoing algorithms is tested under image-based visual servoing with P, PD, PI and PDI controllers, when using redundant and non-redundant visual features. A vision system and a 2 degrees of freedom planar robotic manipulator compose the testbed, where the visual feedback loop operates at 50 Hz. The eye-in-hand camera configuration is used, with the camera looking up to a planar target. Also tackled in this work are the correspondence problem and the 50 Hz image acquisition and processing. Experimental results are presented to show the behavior of image-based visual servoing with the different controllers.