Robust Image-based Visual Servoing System Using a Redundant Architecture

The reliability and robustness of image-based visual servoing systems have recently received a growing interest. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations to control the 6 dof of an industrial robot manipulator (Mitsubishi PA-10) is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearence of image features, local minima, etc. Experimental results are presented which demonstrate the stability, performance and robustness of the system proposed. Copyright c ©2005 IFAC.