Increasing the Performance of Torque-Based Visual Servoing by Applying Time Domain Passivity

This paper proposes a torque controller for dynamic visual servoing taking into account the time delay resulting from the image processing and the frame rate of the camera. The method identifies the sources of intrinsic instability and reacts to their destabilizing effect using the passivity criteria. The behavior of the proposed controller is evaluated in a simulation study for the scenario of approaching the grasping frame on a moving target satellite by a 7-DoF manipulator mounted on a free-floating base as part of an on-orbit servicing manoeuvre. The results show the increase in performance while maintaining stability.