Approach of visual servoing control considering compensation of time delay

This paper describes a novel approach to position-based visual servoing in multi-link redundant manipulator. In the conventional approach, only the tip position of the manipulator is mainly controlled according to the 3-dimensional position information detected by the fixed cameras. In this case, it is difficult to increase the stability and the reliability of the controller since only the position command is considered. In the proposed approach, however, both position and velocity commands are considered by introducing the redundant feature points of target object. One feature point is utilized to generate the position command by using the stereo camera system. The velocity command is determined according to other feature points on the image frame. Furthermore we introduce Smith-method to compensate the time delay of image processing. Several numerical and experimental results are also shown to confirm the feasibility of the proposed method.