A Decoupled Control for Visual Servoing of Camera-in-Hand Robot with 2D Movement

摘要

In this paper, the 2-D control problem of a camera-in-hand robotic manipulator system is considered. The aim is to control the robot arm in such a way that the image of the tracked object coincides with the centre of the image plane. We propose a new control strategy with two loops in cascade, the internal loop solves the robot's joint control and the external loop implements the direct visual servoing. A decoupled controller (one for each image axis) has been developed. Experimental results with the link two(arm) and three(elbow) of the ASEA-IRB6 robot manipulator are presented to illustrate the control system performances.