Visual servoing of the manipulator using the stereo vision

Presents a new method of visual servoing using stereo vision to control the position and orientation of the manipulator with respect to an object. Conventional visual servoing techniques using monocular vision need a priori knowledge such as a model of the object or a parameter of distance to calculate a fixed image Jacobian matrix. This requirement is unnatural from a practical point of view. Moreover, a fixed image Jacobian matrix tends to slow the speed of convergence down. Using stereo vision makes it possible to calculate the exact image Jacobian matrix at any position without using a model of the target object, and results in better convergence characteristics. Both simulation and experimental results are presented to demonstrate the effectiveness of this method