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Abstract

In this paper, a pseudo-stereo visual model based on the concept of depth information sensitivity is presented, which uses binocular visual structure to obtain the image Jacobian matrix and eliminate the depth information Z. Then, consider the kinematics and dynamics characteristics of the robot, two image-based direct visual servo controllers are designed to control the movement of the manipulator. The aim of this approach is to move the robot arm in such a way that the target image can reach the desired position in static and motion states respectively. Theoretical analysis shows that the overall closed-loop system is stable. Finally, simulation and experiment results are used to demonstrate the performance of the proposed approach.