Manipulator control with image-based visual servo

Koichi Hashimoto, Tsutomu Kimoto, Takumi Ebine, Hidenori Kimura

Research output: Contribution to journalConference articlepeer-review

152 Citations (Scopus)


A visual feedback control scheme, called image-based visual servo, is proposed for manipulators with cameras on their hands. To accomplish specific tasks in unstructured environments, it is essential to have capabilities of recognizing the object position with respect to the manipulator hand. Using the Jacobian matrix relating the camera motion to the object position change in the acquired image, a state space formulation of a visual feedback system is established. On the basis of the task defined in the image plane, the desired motion of the hand is achieved by time-variant state feedback. The image-based scheme is applied to a task of tracking a moving object by the camera (and the hand). Simulations show that the control scheme is stable even under noisy conditions, while the conventional position-based servo tends to be unstable. Experiments on a PUMA 560 show the validity and the effectiveness of the image-based visual servo.

Original languageEnglish
Pages (from-to)2267-2271
Number of pages5
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: 1991 Apr 91991 Apr 11

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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