A visual motion control strategy of multi-degrees-of-freedom manipulators using virtual image space

In this paper, a visual motion control strategy is proposed to realize the motion tracking of the target object on the visual image plane. The recent development of visual image processing is making it possible to realize the real-time motion tracking by visual servoing. In the visual servoing, several constraints between the mechanical structure of the manipulator and the vision sensor coordinate exist according to the algorithm of the target visual image processing. Furthermore, the tracking performance depends on the image processing speed, accuracy and the kinematic characteristic mapped on the image space. In this paper, the kinematic resolution for the motion distribution is proposed to realize the coordinated motion of each constraint by using redundancy actively and the generalized virtual image space. The validity of the proposed method is confirmed by the several numerical results.