Augmented Imaged Based Visual Servoing controller for a 6 DOF manipulator using acceleration command

摘要

This paper presents a new imaged based visual servoing controller called Augmented Imaged Based Visual Servoing (AIBVS) for a 6DOF manipulator. A proportional derivative (PD) controller is developed considering acceleration as the controlling command of the robot. This controller can achieve smooth and linear feature trajectory in image space and decrease the risk of features leaving the field of view. The developed control method also enhances the camera trajectory in 3D space. The stability of proposed method is fully investigated by using Lyapunov method and the perturbed systems theory. Being an IBVS method, this method also shows the robustness with respect to some camera calibration errors. Simulation results on a 6 DOF robotic systems validate the effectiveness of the proposed controller.