Exponentially stable positioning of a rigid robot using stereo vision

摘要

This article addresses the visual servoing of a rigid robotic manipulator under fixed camera configuration. The control goal is to move the robot end-effector to a visually determined target position by using a vision system equipped with two fixed cameras. A general image-based controller is proposed to achieve "precise" positioning in the absence of measurement noise. Based on the "epipolar constraint", we have shown that the overall closed-loop system using redundant image features, is exponentially stable provided that the camera model imprecision is small.