Image-based-Visual-Servoing-of-Robotic-Manipulator

This package simulates a IBVS(Image based Visual Servoing) - Eye to Hand configuration for 2 link Planar Manipulator.

Gazebo Setup:

Feature Detection Node:

Implemented a ROS node to detect End effector Feature point using Color segmentation method in OPENCV.

Proportional IBVS Node:

-> Eye to Hand Configuration

-> Image Jacobian with constant Depth.

-> Robot Jacobian w.r.t Camera Frame

-> Proportional Controller

Dependecies:

This repository has been developed and tested in Ubuntu 20.04 and ROS Noetic.

Setup and Run

i) Launch the nodes using below command.

roslaunch planar_robot_vs planarbot_vs.launch