FPGA-based framework for dynamic visual servoing of robot manipulators

This paper describes a whole new framework to quickly develop dynamic visual servoing systems embedded in an FPGA. Parallel design of the algorithms increases the precision of this kind of controllers, whereas minimizes the response time. Embedding dynamic visual servoing algorithms converts these systems into real-time systems. Additionally, an optimal control framework to dynamically visual control robot arms is proposed. The architecture re-configurability is tested with the implementation of two dynamic visual servoing controllers. One of the implemented controllers is derived from the proposed control framework and the other is the well-known image transpose Jacobian controller. From these experiments, FPGA resources utilization and timeline of the pipeline show the optimization of the proposed framework.