Image-based Visual Servoing

by Yuanqiang Evan Dong

    Introduction

    Any control system using visual-sensory feedback loops falls into one of four categories. These categories are derived from choices made regarding two criteria: the coordinate space of the error function, and the hierarchical structure of the control system. These choices will determine whether the system is a position-based or an image-based system, as well as if it is a dynamic look-and-move or a direct visual servo.

    In our work, we present an image-based, dynamic look and move visual servoing system. The difference between our approach and other popular ones is in the use of quaternion representation, which eliminates the potential singularities introduced by a rotational matrix representation.

    Results

    This visual servoing system was tested in real Kawasaki robot. Specifically, the system was tested in three different scenarios: pure linear motion, pure angular motion and hybrid motion.

    A. Pure linear motion

    B. Pure angular motion

    C. Hybrid motion

    References

1. Koenig, T., Dong, Y., and DeSouza, G. N., "Image-based Visual Servoing of a Real Robot Using a Quaternion Formulation," in the Proceedings of the IEEE International Conference on Robotics, Automation & Mechatronics (RAM), pp. 216-221 Sept./08, China.
    
2. Koenig, T., and DeSouza, G. N., "Implementation of a Homography-based Visual Servo Control using a Quaternion Formulation," in the Proceedings of the 2008 IFAC International Conference on Informatics in Control, Automation and Robotics (ICINCO), pp. 288-294, May 2008, Portugal
    
3. DeSouza G.N. and Kak A.C., " A Subsumptive, Hierarchical, and Distributed Vision-Based Architecture for Smart Robotics", IEEE Transactions on Systems, Man, and Cybernetics Part B, Vol. 34, No. 5, Oct. 2004.