ABSTRACT
This chapter has presented a detail development of the model-based visual servoing (MBVS) of a 7 DOF manipulator using image moments. The visual features have been derived using the image moments up to 2nd order. These image moment features were chosen to have a nice decouple properties of the interaction matrix. The presented MBVS control law have been validated in a real-time experiment using 7 DOF PowerCube robot manipulator. In this chapter, through real time experimental demonstrations, we have shown that by giving 4 image moment features, the MBVS can control each joint of the robot manipulator using velocity command, to position the attached camera on the robot end-effector from the initial pose to the desired pose.
