The Positioning of Binocular Stereo Visual Servoing Based on Robot Dynamics

Since binocular stereo visual servoing system acquires more information and has better control effectiveness than single camera visual servoing system, considering the characteristics of robot dynamics, this paper uses an adaptive controller to deal with the positioning control for image-based robot manipulator of stereo visual servoing, which is applicable to the fixed camera configuration or the eye-in-hand set up whose intrinsic and extrinsic parameters are not all known. The asymptotic convergence of the image errors to zero is proved by the Lyapunov theory. A simulation is carried out to demonstrate the effectiveness of the proposed scheme.