Visual servoing using image moments and Nonlinear State Error Feedback control law

For the purpose of realizing 6 DOF robot's visual servoing, we choose image moments,which is a kind of global image features, to construct task functions, and present the analytical form of the interaction matrix, also in order to solve the difficulties of acquiring the depth information of the target object, we choose moments of desired image to replace the translation part of the interaction matrix. Then the robustness of the Nonlinear State Error Feedback control law was analysed theorically. Finally the simulation experimental results we present show the effectiveness of moment features and the robustness of Nonlinear State Error Feedback(NLSEF) control law.