I am implementing IBVS on a UR5 using ROS. The algorithm works very well in linear X, Y and Z and omega Y. When I try to add a fifth axis(omega X or Omega Z), the robot jerks heavily and goes into protective stop if the velocity is high, or it takes forever to converge if i reduce the velocity. How can I solve this problem?
The jacobian I'm using is generated from Peter Corke's Robotics Toolbox.