Image-Based Visual Tracking Control of Hand-Eye Robot for Moving Target Object

In this paper, we propose an image-based visual tracking control method of a hand-eye robot for a moving target object. The hand-eye robot is constructed from a three-DoF planar manipulator and a single CCD camera that is mounted on the end-effector. This robot is a typical example of an eye-in-hand system with a single camera. The control objective is to keep the target object around the center of the image plane. In many conventional visual servo methods, it is assumed that the target object is static. Consequently, the visual tracking delay arises in the case of a moving target object. Although we have already proposed a non-delayed visual tracking control method for a moving target object, this method is developed only for a stereo vision robot with two CCD cameras. Therefore, this paper provides such a visual tracking control method for the hand-eye robot. The validity of our control method is evaluated by an experiment.