An Acceleration Command Approach to Robotic Stereo Image-based Visual Servoing

Abstract This paper presents a new stereo image-based visual servoing (IBVS) controller for a six degrees of freedom (DOF) robot manipulator based on acceleration command. An eye-in-hand stereo vision system is utilized to capture the images of the object and to estimate the depth of the object. A proportional derivative (PD) controller is developed considering the acceleration command. The augmented image-based visual servoing (AIBVS) controller helps the system achieve smoother and more linear image feature trajectories and decrease the risk that the features leave the field of view (FOV). The developed control method also enhances the stability characteristics of the system and the robot's end-effector 3D behaviour. Both simulation and experimental results on a 6 DOF DENSO 6242G robot validate the effectiveness of the proposed stereo AIBVS controller. The comparison with IBVS with monocular vision system demonstrates the improved performance of the proposed system.