BINOCULAR VISUAL SERVOING BASED ON LINEAR TIME-INVARIANT MAPPING

We propose a simple visual servoing scheme based on the use of binocul ar visual space. When we use a hand-eye system which has a similar kin ematic structure to a human being, we can approximate the transformati on from a binocular visual space to a joint space of the manipulator a s a linear time-invariant mapping. This relationship makes it possible to generate joint velocities from image observations using a constant linear mapping. This scheme is robust to calibration error, especiall y to camera turning, because it uses neither camera angles nor joint a ngles. Some experimental results are also shown to demonstrate the pos itioning precision remained unchanged despite the calibration error.