Performance Evaluation of an Image-Space Observer-Based Visual Servoing System

摘要

In recent years, robots have come to be required to operate in various environments and situations. Therefore, robots have to recognize the environment they are in and adapt to any situations that present themselves. The purpose of this research is to increase the tracking speed and robustness of a visual servoing system. A 3-link planar manipulator provided with a CCD camera is used to track the target. In order to track the target, an image-based tracking method, suitable for high-speed tracking, is used. This paper proposes an image-space observer (IOB), which compensates disturbances in the image space. A zero-order hold is introduced to the IOB to enhance the performance of the visual servoing system. The validity of the proposed method is confirmed through experiments.