Image moments based visual control algorithm for servoing systems

In this paper an approach to visual control robot manipulator using image moments is presented. The main part of any image based control system, the interaction matrix, is derived using image moments. A Matlab implementation of the image based control algorithm, tests and validation are presented. Stages were conducted using synthetic images and also real ones. An ABB robot with 6 degrees of freedom and an eye-in-hand camera configuration was considered to run the experiments in real time. The results show that the image moments have high performance in visual servoing applications.

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