Research on adaptive visual servo method for circular symmetrical objects

Circularly symmetric targets are widely used in industry; therefore, how to identify, locate, and grasp circularly symmetrical structures accurately is an important issue in the field of industrial robots. This paper proposed a more general visual servoing solution for circularly symmetric targets, and the proposed visual servoing scheme not only compensates for the limitation that ellipse features can only control 5-DOF (degrees of freedom) of the manipulator, but also solves the problem of slow convergence of image moment features when approaching the desired pose. An adaptive linear controller that combines ellipse features and image moment features is further proposed, thus achieving rapid convergence of the six degrees of freedom of the manipulator. Experimental results verify the effectiveness of the proposed method.