SURVEY ON UNCALIBRATED ROBOT VISUAL SERVOING CONTROL

Visual servo control is one of the most important control strategies of robot system. Uncalibrated visual servoing system reveals preferable flexibility and adaptability in comparison with the classical visual servo systems which require system calibration, therefore it becomes a significant branch and hotspot of research in the field of visual servoing. This paper reviews the research progress of uncalibrated visual servo control system in recent years from three perspectives, which are task function selection, controller design as well as motion planning. First, this paper analyzes the characteristics and applications of position-based visual servoing, image-based visual servoing as well as the hybrid visual servoing based on the form of task functions. As for the controller design, based on the fact whether robot dynamics are considered, this paper introduces the design of uncalibrated visual servo controller which takes robot kinematics or robot dynamics into consideration, and mainly emphasizes the formation and estimation of Jacobian matrixes. As for the possible problems in motion path of uncalibrated visual servo control, this paper also sets forth the existing feasible solutions from the perspective of motion path optimization and obstacle avoidance. Finally, we outline the direction in the future work of uncalibrated visual servoing research based on state of the art.