Enhanced switch image-based visual servoing dealing with featuresloss

Abstract

In this paper, an enhanced switch image-based visual servoing controller for a six-degreeof-freedom (DOF) robot with a monocular eye-in-hand camera configuration is presented. The switch control algorithm separates the rotating and translational camera motions and divides the image-based visual servoing (IBVS) control into three distinct stages with different gains. In the proposed method, an image feature reconstruction algorithm based on the Kalman filter is proposed to handle the situation where the image features go outside the camera’s field of view (FOV). The combination of the switch controller and the feature reconstruction algorithm improves the system response speed and tracking performance of IBVS, while ensuring the success of servoing in the case of the feature loss. Extensive simulation and experimental tests are carried out on a 6-DOF robot to verify the effectiveness of the proposed method.