Dynamic Visual Servoing of Robot Manipulators Based on Passivity

In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted up to the image space and modeled with the lagrangian formalism by formulating the kinematic and potential energy in the image space. The resulting motion equation has the same structure as that obtained in the joint space using the lagrangian modeling [1], and therefore inheriting the passivity property. Control schemes based on the passivity of the motion equation are then designed for visual servoing. Simulation and experiment results are included.