2.5-D visual servoing experiment using Adept Viper s850

This paper describe a visual feedback control experiment for manipulator robot with camera on its hand using 2.5-D visual servoing control scheme. This scheme does not need estimate full 3D model of target object. Design of image jacobian matrix is separated between translation motion that using image based scheme and rotation motion that using position based scheme. The task of robot was approaching an object with specific desired position and orientation. A 6DOFAdept Viper s850 robot and Logitech C920 web camera are used in this experiment. An experiment architecture adapted to facilities in our lab.