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This paper presents a novel adaptive controller for image-based visual servoing of robots with an uncalibrated eye-in-hand camera using line features. The controller is developed based on three key ideas. First, we propose a new method that is similar to the Plucker coordinates, to represent projections of the lines features. The new representation leads to a depth-independent image Jacobian matrix...
This paper presents a novel approach for image-based visual servoing of a robot manipulator with an eye-in-hand camera when the camera parameters are not calibrated and the 3-D coordinates of the features are not known. Both point and line features are considered. This paper extends the concept of depth-independent interaction (or image Jacobian) matrix, developed in earlier work for visual servoing...
This paper extends the method in our earlier work to control S target points to their desired positions on the image plane by using the visual feedback form an eye-in-hand camera. The controller is designed to cope with the case when the intrinsic and extrinsic parameters of the camera as well as the target positions are not calibrated. The controller employs the depth-independent interaction matrix...
This paper presents a new adaptive controller for a robot manipulator to control position of projections of unknown targets using the visual feedback from an eye-in-hand camera. The controller is designed to cope with the case when the intrinsic and extrinsic parameters of the camera are not calibrated. The controller employs the depth-independent image Jacobian to map the errors on the image plane...
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