Constrained Visual Servoing based on Reachable Sets for Systems with Bounded Disturbance

Visual servoing (VS) has so many advantages and potentialities in applications that it has been studied intensively from several viewpoints. To realize VS, we have to deal with constraints necessary for VS such as keeping all features of moving target in the field of view and avoiding saturation of manipulator torque limitation. In this paper, we propose a new method to construct VS system taking the constraints for VS into account explicitly based on reachable sets for systems with bounded disturbance. We propose also a switching strategy to get the controller more high performance in addition to constraint fulfillment. We demonstrate efficacies of this method by performing experiment of VS using 6link manipulator PA10