Image based visual servoing using improved image moments in 6 DOF robot systems
This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in image based visual servoing (IBVS) Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived. A controller is designed to efficiently increase the robustness of the visual servoing system. Experimental results on a 6 DOF robot visual servoing system are provided to illustrate the effectiveness of the proposed method.