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In conventional image-based visual servoing (IBVS), the robot end-effector (camera) motion is controlled directly according to image error, there isn't direct control over the Cartesian velocities of the robot end-effector. As a result, the robot trajectories can be seemingly roundabout in Cartesian space. This paper presents a new control scheme, that is IBVS of rotation separated. As there is not...
In image-based visual servoing control, image change is directly interpreted to camera motion, there isnpsilat direct control over the Cartesian velocities of the robot end-effector. As a result, the robot executes trajectories can be indirect or seemingly roundabout in Cartesian space. This paper proposes a new control scheme that overcomes the problem of the conventional visual servoing. The proposed...
Considering eye-in-hand visual servoing, a new vision open-loop system scheme is proposed, this method evades the hardness of constructing image Jacobian, and needn't update or invert Jacobian at all time, the delay produced by low sampling rates and burden of computing is weakened, system performance is very improved. In order to verify the scheme, simulation of a 2 DOF manipulator eye-in-hand visual...
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