A Modified Image-Based Visual Servo Controller with Hybrid Camera Configuration for Robust Robotic Grasping
In order to develop an autonomous mobile manipulation system that works in an unstructured environment, a modified image-based visual servo (IBVS) controller using hybrid camera configuration is proposed in this paper. In particular, an eye-in-hand web camera is employed to visually track the target object while a stereo camera is used to measure the depth information online. A modified image-based controller is developed to utilize the information from the two cameras. In addition, a rule base is integrated into the visual servo controller to adaptively tune its gain based on the image deviation data so as to improve the response speed of the controller. A physical mobile manipulation system is developed and the developed IBVS controller is implemented. The experimental results obtained using the systems validate the developed approach.
Robotics and Autonomous Systems
Digital Object Identifier (DOI)