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A new partitioned approach to image-based visual servo control

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2 Author(s)

In image-based visual servo control, where control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, the robot executes trajectories that are desirable in the image, but which can be indirect and seemingly contorted in Cartesian space. We introduce a partitioned approach to visual servo control that overcomes this problem. In particular, we decouple the x-axis rotational and translational components of the control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire trajectory, we incorporate a potential function that repels feature points from the boundary of the image plane. We illustrate our control scheme with a variety of results

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Robotics and Automation, IEEE Transactions on  (Volume:17 ,  Issue: 4 )