A modified image-based visual servo controller with hybrid camera configuration for robust robotic grasping

作者：Wang Ying^*; Zhang Guan lu; Lang Haoxiang; Zuo Bashan; de Silva Clarence W

来源：Robotics and Autonomous Systems, 2014, 62(10): 1398-1407.

DOI：10.1016/j.robot.2014.06.003

• Autonomous robots
• Mobile manipulation

In order to develop an autonomous mobile manipulation system that works in an unstructured environment, a modified image-based visual servo (IBVS) controller using hybrid camera configuration is proposed in this paper. In particular, an eye-in-hand web camera is employed to visually track the target object while a stereo camera is used to measure the depth information online. A modified image-based controller is developed to utilize the information from the two cameras. In addition, a rule base is integrated into the visual servo controller to adaptively tune its gain based on the image deviation data so as to improve the response speed of the controller. A physical mobile manipulation system is developed and the developed IBVS controller is implemented. The experimental results obtained using the systems validate the developed approach.

• 出版日期2014-10