Abstract
In this paper, an augmented image based visual servoing (AIBVS) using image moment features is proposed to improve the visual servoing performance. The AIBVS controller produces acceleration as the controlling command. In order to generate the acceleration command, a general analytical formulation for calculating interaction matrix relating the image moments features to camera acceleration is derived. A proportional derivative (PD) controller is developed to provide the controlling command of the robot. Using the derived interaction matrix this controller can achieve smoother feature trajectory in image space and reduce the amount of overshoot that appears in the response of the system. The developed control method also enhances the camera trajectory in 3D space. Simulation tests on three image moments sets, proposed by Chaumette [1], Tahri et al. [2] and Liu et al. [3], are performed on a 6 DOFs robotic system to validate the effectiveness of the proposed controller.Copyright © 2014 by ASME
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