Adaptive Switch Image-based Visual Servoing for Industrial Robots
- 3 Downloads
In this paper, an adaptive switch image-based visual servoing (IBVS) controller for industrial robots is presented. The proposed control algorithm decouples the rotational and translational camera motions and decomposes the IBVS control into three separate stages with different gains. This method can increase the system response speed and improve the tracking performance of IBVS while the proposed adaptive law deals with the uncertainties of the monocular camera in eye-in-hand configuration. The stability of the designed controller is proved using Lyapunov method. Experimental results on a 6 degree of freedom (DOF) robot show the significant enhancement of the control performance over other IBVS methods, in terms of the response time and tracking performance. Also the designed visual servoing controller demonstrates its capability to overcome some of the inherent drawbacks of IBVS, such its inability to perform a 180° camera rotation around its center.
KeywordsAdaptive control image-based visual servoing industrial robots switch control
Unable to display preview. Download preview PDF.
- F. Chaumette, “Potential problems of stability and convergence in image-based and position-based visual servoing,” The Confluence of Vision and Control, pp. 66–78, Springer, 1998.Google Scholar
- N. R. Gans and S. A. Hutchinson, “A switching approach to visual servo control,” in Proceedings of the IEEE International Symposium on Intelligent Control, pp. 770–776, Vancouver, Canada, 2002.Google Scholar
- C. Cai, E. Dean-León, D. Mendoza, N. Somani, and A. Knoll, “Uncalibrated 3d stereo image-based dynamic visual servoing for robot manipulators,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 63–70, Tokyo, Japan, 2013.Google Scholar
- S. Arimoto, Control Theory of Non-Linear Mechanical Systems: A Passivity-Based and Circuit-Theoretic Approach (Oxford Engineering Science Series), Oxford University Press, 1996.Google Scholar
- H. K. Khalil and J. Grizzle, Nonlinear Systems, Vol. 3, Prentice Hall, Upper Saddle River, 2002.Google Scholar
- A. Ghasemi and W.-F. Xie, “Decoupled image-based visual servoing for robotic manufacturing systems using gain scheduled switch control,” Proceedings of International Conference on Advanced Mechatronic Systems (ICAMechS), Xiamen, China, pp. 94–99, 2017.Google Scholar