A visual servoing system based on Adept robot

For robot visual servoing, the influences of characteristics extraction, system calibration and control algorithm on tracking speed and precision are important. A simple and fast camera calibration algorithm is proposed, by which the internal and external parameters of camera need not be calibrated precisely. The image moments that are global image descriptors are used for servoing tracking. With the moment-based image Jacobian matrix, the visual servoing controller composed of image-based feedback and adaptive motion compensation is designed to track the moving target. The validity of the control method is first validated in the experiment where the camera is repositioned with respect to a static target. This work is extended to the tracking of moving objects. By adjusting and optimizing the control parameters, the stable servoing tracking can be realized. The experiment results show that using image moment as image characteristics can avoid the complex characteristics matching process, and acquire a satisfactory tracking accuracy.