Adaptive Gain Control law for Visual Servoing of 6DOF Robot Manipulator

摘要

Visual servoing is the most advanced topic in the field of robotics since the visual feedback provides the real time recognition of the environment. The main advantage that a controller should possess is the speed of operation especially controllers used in industrial applications. In this paper, a variable gain control law which is adaptive in nature is proposed which will reduce the time of convergence of image based visual servoing(IBVS) operation. A comparative study on traditional and proposed control law shows the performance of adaptive gain visual servoing for 6DOF robot manipulator.