Collision avoidance technique for uncalibrated visual servoing for industrial robots

This paper presents a collision avoidance technique that can be incorporated with uncalibrated visual servoing without partitioning the control parameters. Using the proposed technique, the robot is able to track the object while avoiding collision with obstacles. The control is totally based on the sensory feedback and does not require a priori knowledge of the robot kinematics or the sensor transformation. Simulations and experiment demonstrate the validity of the technique.