Optimal motion control for ibvs by separating rotation in z-axis from general motion

In image-based visual servoing control, image change is directly interpreted to camera motion, there isnpsilat direct control over the Cartesian velocities of the robot end-effector. As a result, the robot executes trajectories can be indirect or seemingly roundabout in Cartesian space. This paper proposes a new control scheme that overcomes the problem of the conventional visual servoing. The proposed approach separates the rotation in z-axis from general motion, and control robot to rotate firstly, till current image feature is coincident in direction with goal image feature, then control robot to execute the rest motion by common method. As there is not interferences of translation and rotation of image, the performance of this approach is more advantage in the setting times and the generating optimal motion trajectories of Cartesian space than classical IBVS. We illustrate new control scheme with a variety of simulation results.