Control of Eye-And-Hand type robot arm by visual servoing based on visual space

-Verification by comparison between visual-space-based visual servoing and feature-based visual servoing-

Abstract

The complexity of the trajectory of the robot in the feature-based visual servoing is caused by the nature of the deviation used for control and the content of the relationship Jacobian generating the motion of the robot therefrom.Therefore, in this research, we focus on the fact that the visual space coordinate deviation is obtained from the image coordinates in the Eye-And-Hand type robot arm, and propose a visual space based visual servoing with the deviation part as the visual space coordinate deviation of the feature point.Since the control is such that the deviation of the visual space coordinate is minimized, it is considered that occurrence of unexpected movement can be suppressed.