Abstract
In this paper, a switching control of Image Based Visual Servoing (IBVS) with laser pointer is introduced to control the pose of the end effector with respect to the stationary object in a robotic assembly system so that the image features observed by the camera reach the desired image features as fast as possible. The simple off-the-shelf laser pointer is adopted to realize the depth estimation for obtaining the image Jacobian matrices. By using a laser spot as an image feature and the partition Degree-Of-Freedom (DOF) method, the proposed switching control algorithm decouples the rotational and translational motion control of the robotic end effector to avoid the inherent drawbacks of traditional IBVS, such as image singularities, image local minima and relative long trajectory in Cartesian space. The experimental results on a robotic assembly system are given to verify the effectiveness of the proposed method.
Published Version
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.
