  Utilizing perception for feedback control in combination with Dynamic
Movement Primitive (DMP)-based motion generation for a robot's end-effector
control is a useful solution for many robotic manufacturing tasks. For
instance, while performing an insertion task when the hole or the recipient
part is not visible in the eye-in-hand camera, a learning-based movement
primitive method can be used to generate the end-effector path. Once the
recipient part is in the field of view (FOV), Image-based Visual Servo (IBVS)
can be used to control the motion of the robot. Inspired by such applications,
this paper presents a generalized control scheme that switches between motion
generation using DMPs and IBVS control. To facilitate the design, a common
state space representation for the DMP and the IBVS systems is first
established. Stability analysis of the switched system using multiple Lyapunov
functions shows that the state trajectories converge to a bound asymptotically.
The developed method is validated by two real world experiments using the
eye-in-hand configuration on a Baxter research robot.
