Image-based visual servoing improvement through utilization of adaptive control gain and pseudo-inverse of the weighted mean of the Jacobians

摘要

The use of information acquired by stationary or onboard vision sensors for feedback control of pose and motion of a robot is known as visual servoing. In this paper, an image-based visual servoing controller with improved rate and domain of convergence is presented using adaptive control gain and pseudo-inverse of the weighted mean of the Jacobians. Furthermore, the stability of the proposed controller is proved by means of Lyapunov criteria, and simulations results are provided to demonstrate the validity and advantages of this control scheme. In comparison with the pseudo-inverse of the mean of the Jacobians scheme, the proposed controller increased the convergence rate of the servoing system up to seven times when used in complex motion tasks, and widened the convergence domain of the system up to 179 degrees initial camera yaw angle when used in pure rotation tasks. (C) 2020 Elsevier Ltd. All rights reserved.