A decoupled image space approach to visual servo control of a robotic manipulator

An image-based visual servo control is presented for a robotic manipulator. The proposed control design addresses visual servo of 'eye-in-hand' type systems. Using a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between, the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the orientation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved.