Abstract:In actual visual servoing systems, image processing itself and image information transmission from a camera to an image processing device can cause time delay in the acquirement of visual information. This paper proposes a visual tracking control method with time-delay compensation. Real-time prediction of image feature information of an end-effector is achieved by on-line polynomial fitting of each element of the image Jacobian matrix, which reduces estimation error on image features. Also, a control scheme with time-delay compensation is designed. Simulation experiments of tracking a moving object verify effectiveness of the proposed method.