Visual Servoing Controller Design Based on Barrier Lyapunov Function for a Picking System

  • Jong Min Oh
  • Jotje Rantung
  • Sung Rak Kim
  • Sang Kwun Jeong
  • Hak Kyeong Kim
  • Sea June Oh
  • Sang Bong KimEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 554)


This paper proposes a visual servoing controller design based on Barrier Lyapunov function for a picking system. Visual servoing uses feedback data provided by the camera to control the movement of a picking system in a closed loop system. Visual servoing requires an object in the field of view of the camera in order to control the picking system. To improve the visual servoing controller, the image-based visual servoing and the position-based visual servoing are presented. To apply this method an offline trajectory is developed to perform the image-based visual servoing and the position-based visual servoing tasks for the picking system. Two different control approaches i.e. the visual servoing controller with the limit orientation using the Barrier Lyapunov function and the visual servoing controller with a quadratic Lyapunov function are presented. The proof of asymptotic stability is presented and simulation results from two visual servoing controllers are presented to verify the effectiveness of the proposed controller.


Image–based visual servoing (IBVS) Position–based visual servoing (PBVS) Quadratic Lyapunov function (QLF) Barrier Lyapunov function (BLF) 



This work was supported by the Materials and Components Technology Development Program of MOTIE/KEIT. [10063273, Development of Picking Tool for Logistic Robots to Automate Picking Process of Atypical Parcels]


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Jong Min Oh
    • 1
  • Jotje Rantung
    • 1
  • Sung Rak Kim
    • 1
  • Sang Kwun Jeong
    • 2
  • Hak Kyeong Kim
    • 1
  • Sea June Oh
    • 3
  • Sang Bong Kim
    • 1
    Email author
  1. 1.Department of Mechanical Design EngineeringPukyong National UniversityBusanRepublic of Korea
  2. 2.Department of Automation SystemKorea PolytechnicsJinjuRepublic of Korea
  3. 3.Korea Maritime and Ocean UniversityBusanRepublic of Korea

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