Abstract
Image-based visual servoing is a highly coupled system, where the linear velocities and angular velocities can not be controlled independently from each other, leading to complex issues in control. A common problem is that the Cartesian trajectories often involve undesired large camera motions. Such motion is not time-optimal, requires large and possibly unachievable robot motion. In this paper, we present a new decoupled control law in the image space to overcomes this problem. The proposed method decouples the translations along the three axes and rotation around the Z-axis by combining the control laws in the two classical image-based visual servoing controls. The new approach is computationally inexpensive, easy to implement, and improves performance, especially for tasks that require large rotations (in all three axes) and generalized motions that are required a combination of both translation and rotation. A variety of simulations is conduct to illustrate the effectiveness of the new control scheme. The simulation results show that the new control law has a wider range of success and better performance than the classical control schemes.
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We acknowledge the support of time and facilities from Ho Chi Minh City University of Technology (HCMUT), VNU–HCM for this study.
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Cong, V.D., Hanh, L.D. A new decoupled control law for image-based visual servoing control of robot manipulators. Int J Intell Robot Appl 6, 576–585 (2022). https://doi.org/10.1007/s41315-022-00223-5
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DOI: https://doi.org/10.1007/s41315-022-00223-5