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Control of Visual Servoing System in a Manipulator by Using Sliding Mode Control in Time Delayed Situation

This paper proposes an attitude control of a visual servoing system in a manipulator to obtain a correct attitude under the situation with time delay. In this system, a stereo camera system has been used to perform object recognition and to detect joint angles of the manipulator which has 3 D.O.F. A sliding mode control method has been adopted to eliminate the problems that can be caused by the time delay. In order to use this control method, forward kinematics, inverse kinematics and dynamics of the manipulator have been derived. The advantage of the sliding mode controller is its robustness against system features and disturbances. Therefore the sliding mode controller has been properly utilized in this research for the attitude control of the visual servoing system in the manipulator. In order to verify the performance of the proposed control algorithm under the situation with time delay, it has been compared to PID algorithm in controlling the manipulator using vision information under the situation with a certain time delay.