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A novel visual servoing with stereo cameras using QR decomposition and disturbance observer

This paper proposes a visual serving method based on QR decomposition and disturbance observer. The QR decomposition factorizes the image feature Jacobian into a unitary matrix and an upper triangular matrix. It is shown that several performance indices such as measurement sensitivity of visual features, sensitivity of the control to noise and controllability can be improved for any general image feature Jacobian by OR decomposition and disturbance observer. To show the validities of the proposed approach, visual servoing with stereo cameras is experimented on Samsung FARAMAN 6-axis industrial manipulator.