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Adaptive Image-based Visual Servoing of Mobile Manipulator with an Uncalibrated Fixed Camera

This paper studied the problem of image-based visual servoing of mobile manipulator. In our system, a camera without any prior knowledge is fixed on the ceiling board in an arbitrary pose. In addition, the relative position of manipulator and mobile platform is also unknown, neither is the feature point position which is marked before on the manipulator end-effector. To overcome the difficulties mentioned above, we proposed a vision-based controller to make the vision feature point move toward the desired site on the camera image plane. And an update law of unknown parameters is designed to estimate parameters online. Lyapunov theory is utilized to make the analysis of system convergence. And simulation is provided to show the validity of our approach.