Visual servoing with nonlinear observer

Visual servo system is a robot control system which incorporates the vision sensor in the feedback loop. Since the robot controller is also in the visual servo loop, compensation of the robot dynamics is important for high speed tasks. Moreover estimation of the object motion is necessary for real time tracking because the visual information includes considerable delay. This paper proposes a nonlinear model-based controller and a nonlinear observer for visual servoing. The observer estimates the object motion and the nonlinear controller makes the closed loop system asymptotically stable based on the estimated object motion. The effectiveness of the observer-based controller is verified by simulations and experiments on a two link planar direct drive robot

Digital Object Identifier: 10.1109/ROBOT.1995.525330
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on, 21-27 May 1995, Vol. 1, Pages 484-489.
Publisher URL:http://dx.doi.org/10.1109/ROBOT.1995.525330
Copyright © 1995 IEEE. All rights reserved.