Direct visual servo control of a robot to track trajectories in supervision tasks

This paper describes the modelling, simulation and visual servo control of a robot-arm designed for supervision of complex task environments. This robot (mini-robot) has 2 degrees of freedom (hereafter d.o.f.) and it is attached at the end of another anthropomorphic robot with 7 d.o.f. (main robot). In order to achieve a suitable supervision, the mini-robot has to perform a given trajectory around the workspace where the task is developed. With the purpose of obtaining an accurate and fast supervision, this paper presents a novel tracking method carried out in the image space using direct visual servo control.