Abstract—In this paper

Abstract—In this paper, a decoupled image-based visual
servoing (IBVS) controller for an eye-in-hand robotic system
is presented. This controller can provide fast response system
to meet the demand of robotic manufacturing applications.
The proposed control algorithm decouples the rotational and
translational camera motions and makes three separate stages
of control with different gains for each one. A switch scheme
for these three stages of control is proposed. The controller is
implemented on a Denso robot with a camera installed in an eyein-hand
configuration. Experimental results show the significant
enhancement of the control performance in terms of the response
time over the traditional IBVS. In addition, the proposed method
succeeds in fulfilling some tasks where traditional IBVS fails.
Keywords—Robotic Control, Image-Based Visual Servoing,
Gain Scheduled Switch Control.

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