Visual Servoing-Optimal Control Approach.

摘要

The visual servoing system is composed of an object and an eye-in-hand robot. The object is moving around the robot work space and the robot is tracking the object by using a visual sensor mounted on the hand. This paper proposes a control theoretic formulation for the visual servoing system. The system is modeled by the perspective transformation of the camera and the kinematic transformation of the robot. The system is linearized at the reference point yielding an MIMO time-invariant model. An optimal control approach is proposed to design a robust feedback controller. Controllability and stability of the system is also discussed. Realtime experiments on PUMA560 are carried out to evaluate and compare the proposed approach with previously proposed algorithms.