Implementation of an improved moment-based visual servoing controller on an industrial robot

Abstract

In this paper, robust nonlinear control of moment-based visual servoing has been proposed. Due to the nonlinear nature of system, proportional integral sliding mode controller could improve the performance and robustness of visual servoing. The proposed method not only increases domain of attraction even in extraneous image regions, but also it achieves convergence to the target point despite of uncertainties. The stability of the controller is analyzed by Lyapunov's theorem. Furthermore, Integrated control of 4 DOF camera motions in this work, drastically improves the accuracy in compare with the kernel-based sliding mode visual servoing [1]. Different experiments are done to demonstrate considerable performance improvements on 5 DOF industrial robot.