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In this paper, we address the visual servoing problem of robot manipulators with eye-in-hand cameras. To servo-control the image position of a feature point, traditional image-based controllers require the computation of the point's position vector with respect to the camera's frame. However, when the point's location is uncertain, the stability of traditional visual servoing controllers can not be...
This paper presents a new controller for locking a moving object in 3-D space at a particular position (for example, the center) on the image plane of a camera mounted on a robot by actively moving the camera. The controller is designed to cope with both the highly nonlinear robot dynamics and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly...
This paper presents a novel adaptive controller for image-based visual servoing of robots with an eye-in-hand camera using angle and distance features. The key idea lies in the development of the depth-independent interaction matrix and the proposal of an adaptive algorithm for estimating the unknown geometric parameters of the features in the 3-D space. The Lyapunov theory is used to prove the asymptotic...
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