Uncalibrated eye-in-hand visual servoing: an LMI approach

Purpose - The purpose of this paper is to present the control of six degrees of freedom (PUMA560) robotic arm using visual servoing, based upon linear matrix inequality (LMI). The aim lies in developing such a method that neither involves camera calibration parameters nor inverse kinematics. The approach adopted in this paper includes transpose Jacobian control; thus, inverse of the Jacobian matrix is no longer required. By invoking the Lyapunov's direct method, closed-loop stability of the system is ensured. Simulation results are shown for three different cases, which exhibit the system stability and convergence even in the presence of large errors. Design/methodology/approach - The paper presents LMI-based visual servo control of PUMA560 robotic arm. Findings - The proposed method is implementable in the dynamic environment due to its independence to camera and object model. Research limitations/implications - Visibility constraint is not included during servoing this may cause features to leave the camera field of view (fov). Originality/value - LMI optimization is employed for visual servo control in an uncalibrated environment. Lyapunov's direct method is utilized which ensures system stability and convergence.