An experimental testbed for visual servo control of robotic manipulators

This paper presents an experimental testbed for visual servo control of robotic manipulators. The testbed´s flexibility in implementing visual servoing algorithms is tested under image-based visual servoing with P, PD, PI and PDI controllers, when using redundant and non-redundant visual features. A vision system and a 2 degrees of freedom planar robotic manipulator compose the testbed, where the visual feedback loop operates at 50 Hz. The eye-in-hand camera configuration is used, with the camera looking up to a planar target. Also tackled in this work are the correspondence problem and the 50 Hz image acquisition and processing. Experimental results are presented to show the behavior of image-based visual servoing with the different controllers.