Abstract: The conventional image based visual servo control would lead to image singularities that might cause control instabilities, and this problem can be solved by introducing the image moments as features in visual servo control. Where the Jacobian matrix is full rank and upper triangular, thus it has the maximal decoupled structure and simplifies the controller design. Then, PD based visual controller is presented to improve the performance of the visual servo control system instead of the commonly used P controller. Genetic algorithm based PD parameters tuning method is applied to get the optimal parameters. The method proposed is used to align the micro peg and hole, and the experiment results show that the object can reach its desired position faster and more smoothly with PD visual controller.

Key words: Genetic algorithm, Image moments, Optimal PD visual controller, Visual servo