A Stable Switched Visual Servoing with Supervisory Control

Sensory information provided by the camera mounted on robotic end effector enable visual guidance and visual feedback. In a large workspace interaction of more than one camera can ensure that image based visual servoing (IBVS) does not fail. A master camera monitors the scene and helps the system overcome the chances of failure of IBVS. A region around the target where IBVS will not fail is identified and a robot end effector with an eye in hand camera is guided to this region assuring asymptotic stability of the system. Simulation studies are carried out and the efficiency of the system is ensured. The supervisory control scheme proposed in this paper works satisfactorily for targets which are initially not visible for the robot in a large workspace.