In this paper, a novel visual servoing technique for a 5-dof mobile manipulator with an eye-to-hand
camera configuration is introduced. The proposed technique can be categorized as an image based (or
2D) visual servoing using a fixed camera in conjunction with a conic mirror (aka, a Catadioptric
camera system) providing panoramic vision. Two fictitious landmarks mounted on robot's end-effector
along with their mirror reflections, when viewed by the camera, provide enough information for 3D
reasoning based on the four points viewed on the image plane. Instead of directly using the image
features associated with these four points, five new image features are chosen to make the image
Jacobian rank efficient. A dual estimation/control strategy based on Extended Kalman Filter (EKF) is
utilized to (1) estimate camera's intrinsic and extrinsic parameters, and (2) track the coordinates of the
landmarks and their reflections on the image plane. The relationship between the translational and
rotational velocity of a frame attached to the robot's end-effector and the rate of change of the
proposed image features are fully formulated. The robustness of the proposed technique in
translational and rotational servoing of a 5-dof holonomic mobile manipulator is illustrated through
computer simulations.
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