Monocular direct visual servoing for regulation of manipulators moving in the 3D Cartesian space

This paper addresses the visual servoing for regulation of robot manipulators evolving in the 3D Cartesian space. The image-based approach using a single camera - but multiple feature points - is considered to propose a direct visual servoing to deal with the complete robot nonlinear dynamics. This paper exploits first the well-known fact that in general four coplanar feature points on an object are sufficient to determine its posture form their projection in the image plane, and second, the transpose Jacobian control technique to design the proposed direct visual servoing scheme. Experiments on a nonlinear direct-drive spherical wrist are presented to illustrate the effectiveness of the proposed method