Visual servoing in ISAC, a decentralized robot system for feeding the disabled

ISAC is a distributed robotic feeding system for the physically disabled. This paper describes a visual servoing system which enables ISAC's robot arm to grasp an object. The servo control loop is defined. The image to world coordinate transform is deduced. A three-phase visual servoing algorithm which balances speed with complexity is described. A technique for compensating for network delays is presented. The results of 200 trials are analyzed. A success rate of 91% was achieved.