Volume 20, Issue 54, July - December, 2023

Numerical analysis of a visual servo system with Relative Gain Array

Abhilash Vijayan^♦, Ashok S

Department of Electrical Engineering, Government Engineering College, Painavu, Idukki, Kerala, India

^♦Corresponding author
Department of Electrical Engineering, Government Engineering College, Painavu, Idukki, Kerala, India

ABSTRACT

The generation and characterization of control signals for decision-making in industrial robotic applications require essential data from the environment, gathered through various sensors. Atop these sensors, a camera is employed to collect information and data from the surroundings. Visual feedback proves to be an effective and robust technique for closed-loop robotic applications. This paper proposes a multivariable interaction model, akin to process control, for the visual-servo system. Variable interaction is inherent in these Multiple Input Multiple Output (MIMO) system models, which is apt for explaining the intrinsic flaws of Image-Based Visual Servoing (IBVS). Singular Value Analysis (SVA) and Relative Gain Array (RGA) serve as pragmatic tools for the evaluation and analysis of the system. The objective of this paper is to utilize RGA for the numerical analysis of the visual servo control structure.

Keywords: Visual servoing, MIMO, Condition Number, RGA, SVA

Indian Journal of Engineering, 2023, 20(54), e36ije1672

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DOI: https://doi.org/10.54905/disssi.v20i54.e36ije1672

Published: 29 December 2023