Abstract: To overcome the defect of camera retreat in image based visual servoing, a model-based visual servoing incorporated 2D image based visual servoing with 3D features was proposed. The robot visual servoing model was established by altering traditional two dimensional feature to three dimensional features based on traditional IBVS control structure. Furthermore, combined with the Simulink software, simulation model was established and motion characteristics of two methods were analyzed and compared in image space and Cartesian space. The experiment results confirm the feasibility and effectiveness of the proposed method.

Key words: robot visual servoing, camera retreat, image based visual servoing, feature reconstruction