Two DOF controller for decoupled image-based visual servoing

Robotic manipulators have found wide applications in various industries such as automotive industry and aerospace. Successful robot manipulation usually requires a highly structured workspace, which is expensive and time consuming. Visual servoing offers an interesting remedy to this problem by exploiting camera images for robot control. Typically, a single degree of freedom proportional controller is employed for servoing, which has to compromise between uncertainties and rate of convergence. This work proposes a two degree of freedom controller to address this problem. The proposed controller separates the rate of convergence from the uncertainty, does not require online depth estimation, and is faster compared to classic proportional controller. The effectiveness of the proposed controller is verified through simulations.