Visual servo control in consideration of visual distortion of object

This paper describes a feature based visual servo control considering the object distortion on the image plane. In the visual servo control of the manipulator with the hand/eye system realizing the stable convergence to target feature points with visual distortion, it is necessary to control not only the tip position but also the direction of the hand/eye system. To control both motions at the same time, the redundant manipulator is useful. In the proposed method, the rotational motion is controlled by null space input to reduce the visual distortion. Furthermore, to realize the stable motion convergence, the null space input gain is adjusted by fuzzy logic. To confirm the validity of the proposed method, simulation and experimental results are shown