Dynamic Visual Feedback Control For A Hand-eye Manipulator

This paper proposes a visual feedback control scheme for a manipulator with a camera on the hand. Incorporating the dynamics of the visual information into the manipulator control, we formulate a state space representation of the visual servo mechanism. An optimal control approach to visual servoing is developed based on the state space formulation. The proposed algorithm gives a simple time-invariant state feedback controller, which allows a high sample rate control system. Real-time experiments of object tracking with a PUMA 560 manipulator are conducted to show the validity of the optimal control scheme. Experimental results show the superiority of the proposed approach compared to the conventional visual feedback control algorithms.