Feature-based visual servoing of an eye-in-hand robot with improved tracking performance

摘要

A method is presented for using image features in servoing a robot manipulator. Specifically, the concept of a feature is mathematically defined, and the differential relationship between the robot motion and feature vector is derived in terms of a feature Jacobian matrix and its generalized inverse. The feature-based PID (proportional-integral-derivative) controller is established with three scalar gains and an n*n matrix. By means of various examples, the method of feature-based servoing of a robot proposed is proved to be very effective for conducting object-oriented robotic tasks.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>