R. Mahony, T. Hamel, F. Chaumette. A decoupled image space approach to visual servo control of a robotic manipulator. In IEEE Int. Conf. on Robotics and Automation, ICRA'02, Volume 3, Pages 3781-3786, Washington DC, May 2002.
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An image-based visual servo control is presented for a robotic manipulator. The proposed control design ad- dresses visual servo of 'eye-in-hand' type systems. Us- ing a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the ori- entation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved
@InProceedings{Mahony02a,
Author = {Mahony, R. and Hamel, T. and Chaumette, F.},
Title = {A decoupled image space approach to visual servo control of a robotic manipulator},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'02},
Volume = { 3},
Pages = {3781--3786},
Address = {Washington DC},
Month = {May},
Year = {2002}
}
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