Experiments on a visual servoing approach using disturbanceobserver

摘要

A visual servoing method has been proposed based on a disturbanceobserver to eliminate the effect of the off-diagonal component of theimage feature Jacobian, since performance indices such as measurementsensitivity of visual features, sensitivity of the control to noise, andcontrollability could be improved when an image feature Jacobian wasgiven as a block diagonal matrix. In this paper, experimental results ofdisturbance observer-based visual servoing are discussed, where aSamsung FARAMAN-ASI 6-axis industrial robot manipulator is employed.Also, the feature saturator is proposed to stabilize the disturbanceobserver loop by saturating the differential changes of the imagefeatures