Visual servoing with modified Smith predictor for micromanipulation tasks

A control scheme with a modified Smith predicator (MSP) for the position-based dynamic look-and-move visual servoing for the control of micromanipulation is proposed. Due to the time consuming image acquisition, transfer, and processing, the visual servoing has an inherent time delay, which seriously damage the system performance. Previously, the most common method is to decrease the primary gains to increase damping, thus making the system more robust in the presence of delays. However, the resultant response of the system is lowered, leading to a sluggish overall performance. In this paper, a control scheme with a similar structure to the Smith predictor, called modified Smith predictor is employed to eliminate the vision delay. A detailed analysis and experiments available are presented to demonstrate the vision control system with the proposed control scheme has better dynamics performance than the single vision control system.