Abstract
Visual servo system is a robot control system that, incorporates the vision sensor in the feedback loop. Since the visual information includes considerable delay and the sampling rate of the vision sensor is much slower than that of the joint servo, estimation of the object motion in joint servo rate is desirable for high performance real time tracking. This paper proposes a linear time-invariant observer-based controller for visual servoing with redundant features. How the performance is improved by using redundant features is also described. Moreover, the effectiveness of the observer-based controller is verified by the experiments on a PUMA 560 robot.
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