Visual servoing with safe interaction using image moments

The problem of image based visual servoing for robots working in a cluttered dynamic environment is addressed in this paper. It is assumed that the environment is observed by depth sensors which allow to measure the distance between any moving obstacle and the robot. Also an eye-in-hand camera is used to extract image features. The main idea is to control suitable image moments and to relax a certain number of robot's degrees of freedom during the interaction phase. If an obstacle approaches the robot, the main visual servoing task is relaxed partially or completely, while the image features are kept in the camera field of view by controlling the image moments. Fuzzy rules are used to set the desired values of the image moments. Beside that, the relaxed redundancy of the robot is exploited to avoid collisions. After removing the risk of collision, the main visual servoing task is resumed. The effectiveness of the algorithm is shown by several case studies on a KUKA LWR 4 robot arm