Adaptive Image-Based Visual Servoing of 6 DOF Robots Using Switch Approach

摘要

In this paper, an adaptive image-based visual servoing (IBVS) controller using switch approach is proposed for an eye-in-hand 6 DOF robot. The proposed controller is decomposed to three distinctive stages with its own gains. By decoupling the translational and rotational motions, this method can deal with the nonlinearity of the image Jacobian matrix created by the depth parameter. Adaptive laws are developed to estimate the camera parameters. In order to meet the needs of robotic industrial applications, a switch adaptive IBVS is designed to provide a fast response system based on the estimated camera intrinsic parameters. In terms of the response time, simulation results show the significant improvement of the control performance compared to the other IBVS methods. Besides the designed controller proves the capability to overcome one of the inherent shortcomings of IBVS where the tasks dictate a 180 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">◦</sup> camera rotation around its center.