Abstract

The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearance of image features, local minima, etc. Experimental results with an industrial robot manipulator based on Schunk modular motors to demonstrate the stability, performance and robustness of the proposed system are presented.

Details

Title
Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture
Author
Garcia-Aracil, Nicolas; Perez-Vidal, Carlos; Sabater, Jose Maria; Morales, Ricardo; Badesa, Francisco J
Pages
11885-11900
Publication year
2011
Publication date
2011
Publisher
MDPI AG
e-ISSN
14248220
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
1537588260
Copyright
Copyright MDPI AG 2011