Trajectory planning for visual servoing with some constraints

摘要

Visual servo comes up against difficulties when the initial and desired pose of robot is distant. In this paper, a novel approach to solve these difficulties by coupling trajectory planning and image-based control. Some main constraints such as visibility, joint range limits, kinematic singularities, and joint velocity limits are taken into account. The main difference from the existing results is that a trajectory not a path is designed in the image space, and the trajectory can be used for the image-based visual control directly, meanwhile, the kinematic singularities and joint velocity limits are considered which have never been dealt with by other researchers. A trajectory under the mentioned constraints in image space is generated. The planned image trajectory is then followed by using an IBVS controller. Simulations and Experiments using an eye-in-hand robotic system on a 6-dof robot manipulator are carried out to confirm the validity of our approach.