Abstract— servoing (IBVS) controller using switch approach

Abstract— 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 into three separate stages with different gains. By decoupling the rotational and translational motions, this method can deal with the nonlinearity in the image Jacobian matrix caused by depth parameter. Adaptive laws are developed to estimate the camera parameters. Based on the estimated camera intrinsic parameters, a switch adaptive IBVS is designed to provide a fast response system to meet the demands of robotic industrial applications. Simulation results show the significant enhancement of the control performance in terms of the response time over the other IBVS methods. Also the designed visual servoing controller demonstrates the capability to overcome one of the inherent drawbacks of IBVS where the tasks require a 180 rotation of the camera around its center.

Index Terms— Adaptive control, Image-based visual servoing, Industrial robots


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