Modeling of visual servo open-loop for robot manipulators

This paper presents a multivariable open-loop model for visual servoing of robot manipulators using image based strategy. The modeling considers the dynamics of the velocity controlled robot as well as a model of the visual sensor that consists of camera and feature extraction block. Taking into account the velocity dynamics with internal feedback loops, a linearized and decoupled model of the joints was considered. This model, together with the visual sensor model, is used to develop the visual servo open-loop model. Finally, the proposed modeling approach is verified through simulations using a visual servoing toolbox and real images obtained with a 6 degree-of-freedom (DOF) ABB robot with an eye-in-hand camera configuration.