Evan Dong

University of Missouri–Columbia

    Introduction

    Any control system using visual-sensory feedback loops falls into one of four categories. These categories are derived from choices made regarding two criteria: the coordinate space of the error function, and the hierarchical structure of the control system. These choices will determine whether the system is a position-based or an image-based system, as well as if it is a dynamic look-and-move or a direct visual servo.

    In our work, we present an image-based, dynamic look and move visual servoing system. The difference between our approach and other popular ones is in the use of quaternion representation, which eliminates the potential singularities introduced by a rotational matrix representation.

    Results

    This visual servoing system was tested in real Kawasaki robot. Specifically, the system was tested in three different scenarios: pure linear motion, pure angular motion and hybrid motion.

    A. Pure linear motion

    B. Pure angular motion

    C. Hybrid motion

    Reference

    T. Koeing, Y. Dong and G.N. DeSouza. Image-based Visual Servoing of a Real Robot using a Quaternion Formulation. IEEE International

   Conference on Cybernetics and Intelligent System, Robotics, Automation and Mechatronics. (2008)