Visual Servoing of a Switched System with Supervisory Control [ ]


Sensory information provided by the camera mounted on robotic end effector can be used for visual guidance and feedback. Interaction of more than one camera in a large workspace can ensure that image based visual servoing (IBVS) does not fail. A master camera monitors the scene and helps the system overcome the chances of failure of IBVS. Asymtotic stability of is assured by identifying a region around the target where IBVS will not fail is identified and a robot end effector with an eye in hand camera is guided to this region. Simulation studies are carried out and the efficiency of the system is ensured. The supervisory control scheme proposed in this paper works satisfactorily for targets which are initially not visible for the robot in a large workspace.