Hybrid Visual-Ranging Servoing for Positioning Based on Image and Measurement Features

摘要

In this article, a hybrid visual-ranging servoing method is proposed to realize high-precision positioning tasks with a 6-degree of freedom (DOF) manipulator. This method utilizes the image and measurement features directly in the control loop. Without the need of complex image feature design and attitude estimation, this method realizes the 6-DOF control of a robot. A vital challenge in traditional vision-based systems is avoiding local minima and singularity problems. To tackle this issue, a full-rank interaction matrix hybrid visual servo (FRHVS) design criterion is proposed, which guarantees that the hybrid interaction matrix and its pseudoinverse matrix are both full rank. Moreover, the interaction matrix for these hybrid strategies, which combines image features with other sensors features, is derived in an analytical form. Experiments on a 6-DOF manipulator show that the proposed method is effective and has global asymptotic stability and high precision.