Novel two-stage control scheme for robust constrained visual servoing

Visual servoing techniques are proven to be beneficial in unstructured workspaces. However, visual servoing is bounded by several constraints and is prone to the uncertainties of the system, leaving it of limited applicability. Several previous works have tackled these problems; yet, most of these works considered only a partial set of the aforementioned shortcomings. This work proposes a novel two-stage controller that is capable of minimizing the uncertainties of the system, while handling the constraints properly. The effectiveness of the controller is put into test via various simulations and experiments. The experimental results confirm the usefulness and applicability of this controller.