Visual Servoing with Nonlinear Observer

Abst raet Visual servo system is (I robot control system which incorporates the vision sensor i n the feedback loop. Since the robot controller is also i n the visual servo loop, compensation of the robot dynamics is important f o r high speed tasks. Moreover estimation of the object motion is necessary for real time tracking because the visual information includes considerable delay. T h i s paper proposes a nonlinear model-based controller and a nonlinear observer for visual servoing. T h e observer estimates the object motion and the nonlinear controller makes the closed loop system asymptotically stable based o n the estimated object motion. T h e effectiveness of the observer-based controller is verified by simulations and experiments o n a t w o link planar direct drive robot.