A dynamic visual servoing of robot manipulator with eye-in-hand camera

摘要

In this paper, we propose a dynamic visual servo controller for precise tracking of robot manipulator. For the controller, we used a dual-loop structure which includes a vision controller and dynamic controller with different sampling speed. The vision controller is accommodated in the outer control loop with the aid of eye-in-hand camera, implementing the image based visual servoing method. As an inner loop controller, an adaptive backstepping controller is derived for position control of joint angle together with PID controller. The performance of proposed visual servo controller has been verified through computer simulation with V-REP simulation package.