A New Image-Based Visual Servoing Method with Rotational Compensation

作者：Xu, De^*; Lu, Jinyan; Wang, Peng; Zhang, Zhengtao; Zhang, Dapeng; Liang, Zize

来源：IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO), 2016-12-03 To 2016-12-07.

DOI：10.1109/ROBIO.2016.7866472

• Interaction matrix
• sensitive features
• depth estimation
• visual servoing
• visual control

A new image-based visual servoing method based on point features is presented to partially decouple the position and orientation controls. The control laws are designed for rotation and translation, respectively. Rotation takes priority over translation, but the movement of features caused by rotation is compensated in the translation control law. A monitor is designed to manage the adjustments for orientation and position. It limits the rotational amount for each step in the given range to ensure the features be in the camera's field of view. It also limits the translational amount for each step in the given range to ensure the reachability. Experimental results verify the effectiveness of the proposed method.

• 出版日期2016
• 单位复杂系统管理与控制国家重点实验室; 中国科学院