Optimal motion control for IBVS of robot

摘要

In conventional image-based visual servoing (IBVS), the robot end-effector (camera) motion is controlled directly according to image error, there isn't direct control over the Cartesian velocities of the robot end-effector. As a result, the robot trajectories can be seemingly roundabout in Cartesian space. This paper presents a new control scheme, that is IBVS of rotation separated. As there is not interferences of translation and rotation of image, the performance of this approach is more advantage in the setting times and the motion trajectories of Cartesian space than classical IBVS, and can executes visual servoing task that conventional IBVS can't accomplished. We illustrate new control scheme with two representative simulation result.