Enhanced IBVS controller for a 6DOF manipulator using hybrid PD-SMC method

摘要

The accuracy and stability are two fundamental concerns of the visual servoing control system. This paper presents an enhanced image based visual servoing (IBVS) method which can increase the accuracy of visual servoing with guaranteed stability. The proposed controller combines PD control with sliding mode control (SMC) for a 6DOF manipulator. Specifically, the main benefits of this approach lie in simple structure and easy implementation due to PD control and good robustness to uncertainties due to SMC. Compared with conventional proportional or SMC controller, this approach owns faster convergence velocity, and better global disturbance rejection ability. The stability of the enhanced IBVS method is proved by using Lyapunov method. Simulation and experimental results show that the proposed controller can increase the accuracy and robustness of a 6DOF robotic system.