Abstract
In this paper, an adaptive image-based visual servoing (IBVS) controller using switch approach is proposed for an eye-in-hand 6 DOF robot. The proposed controller is decomposed to three distinctive stages with its own gains. By decoupling the translational and rotational motions, this method can deal with the nonlinearity of the image Jacobian matrix created by the depth parameter. Adaptive laws are developed to estimate the camera parameters. In order to meet the needs of robotic industrial applications, a switch adaptive IBVS is designed to provide a fast response system based on the estimated camera intrinsic parameters. In terms of the response time, simulation results show the significant improvement of the control performance compared to the other IBVS methods. Besides the designed controller proves the capability to overcome one of the inherent shortcomings of IBVS where the tasks dictate a 180◦ camera rotation around its center.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
