Hybrid servo-visual control for the positioning of a Robotic Manipulator
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13752Keywords:
Autonomous robotic systems , Navigation, guidance and control , Robots manipulators, Motion control, Robotics technologyAbstract
This paper presents a hybrid servo-visual control architecture for positioning a robotic manipulator. The proposed approach combines a position-based controller (PBVS) and an image-based controller (IBVS) ollowed by a final stage of a contact-based approach. The PBVS controller enables an initial movement toward the target pose using geometric information from the camera-robot system. Subsequently, the IBVS controller refines the positioning by minimizing the visual error in the image plane to improve local accuracy despite calibration uncertainties or small pose deviations. Finally, the robot performs a controlled movement toward the desired point until it detects contact with the environment via a force condition. The architecture is experimentally validated using three scenarios: PBVS control, IBVS control, and hybrid PBVS–IBVS control with contact-based approach. The results enable analysis of visual convergence and positioning accuracy, as well as the system’s ability to perform contact tasks in a structured manner.
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Copyright (c) 2026 Edison Velasco, Juan Pablo Neme, Pablo Gil
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
