Investigation of IBVS control method utilizing vanishing vector subject to spatial constraint

Abstract

When a visual servoing system has to move a workpiece to an unmarked spatial point, conventional control methods have difficulty accomplishing the task. This is referred to as the spatial constraint problem. This research proposes an improved solution by introducing a new image feature based on previous research. Initially, a vanishing vector, considered a new type of image feature, is designed in the image plane, and the viability of employing the vanishing vector to represent the unmarked spatial point is demonstrated. Afterward, using a robotic vision system with an eye-to-hand configuration, simulations and experiments are conducted in real-time to validate the effectiveness of the proposed method. The results indicate that the spatial constraint problem can be solved effectively, allowing the robot to move the workpiece to the desired position.