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A new control scheme for visual servoing

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  • Robotics and Automation
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Abstract

This research presents a new control scheme for visual servoing that takes into account the delay introduced by image acquisition and image processing. Firstly, previous control schemes for visual servoing are discussed and then a new control scheme is proposed and fully described. Afterwards, the capabilities (steady-state errors, stability margins, step time response, etc.) of the proposed control scheme and of previous ones are analytically analyzed and compared. Next, several simulations and experimental results are provided to validate the analytical results and to illustrate the benefits of the proposed control scheme. In particular, it is shown that this new control scheme clearly improves the performance of the previous ones.

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Author information

Authors and Affiliations

  1. Instituto IDF, Universidad Politécnica de Valencia, Camino de Vera s/n, 46022, Valencia, Spain

    Luis Gracia

  2. Departamento de Ingenería de Sistemas Industriales, Universidad Miguel Hernández, Avenida de la Universidad s/n, 03202, Elche, Spain

    Carlos Perez-Vidal

Authors
  1. Luis Gracia
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  2. Carlos Perez-Vidal
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Corresponding author

Correspondence to Luis Gracia.

Additional information

Recommended by Editorial Board member Dong-Joong Kang under the direction of Editor Jae-Bok Song. This work was supported in part by the Generalitat Valenciana (Research Project GVPRE/2008/168) and Bancaja savings bank.

Luis Gracia received the B.Sc. degree in Electronic Engineering, the M.Sc. degree in Control Systems Engineering, and the Ph.D. in Automation and Industrial Computer Science from the Technical University of Valencia (UPV), Spain, in 1998, 2000, and 2006, respectively. He is currently an Associate Professor at Department of Systems Engineering and Control (DISA) of the UPV. His research interests include mobile robots, robotic manipulators, visual servoing and control.

Carlos Perez-Vidal is an Associate Professor of Control and Systems Engineering at Miguel Hernández University (Spain), researcher at the Systems Engineering and Automatic Control Division. He holds the B.Sc. in Industrial Engineering (1998) and M.Sc. in Control Engineering (2000) by the Technical University of Valencia, Spain. His research interests are robotics, visual servoing and automation.

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Gracia, L., Perez-Vidal, C. A new control scheme for visual servoing. Int. J. Control Autom. Syst. 7, 764–776 (2009). https://doi.org/10.1007/s12555-009-0509-9

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  • DOI: https://doi.org/10.1007/s12555-009-0509-9

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