Decentralised Binocular Visual Trajectory Tracking Control for Cooperative Dual-Arm System

It is investigated that a common object held by a cooperative dual-arm system is made to perform a trajectory tracking control task in cartesian space under the monitoring of a calibrated binocular vision system. To avoid the drawbacks of the position based visual servoing (PBVS), the image based visual servong (IBVS) is selected to do through transforming the control task in cartesian space to image space. The binocular visual trajectory tracking controller is then designed based on decentralised control strategy, and the system stability is proven by Lyapunov method. Finally, the effectiveness of the proposed method is verified in simulation.

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