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We present an approach to control a 6-degree-of-freedom (DOF) manipulator using an uncalibrated visual servoing (VS) approach that addresses the challenges of choosing proper image features for target objects and designing a VS controller to enhance the tracking performance. The main contribution of this paper is the definition of a new virtual visual space (image space). A novel stereo camera model...
In this paper, we present an uncalibrated position-based fixed-camera Visual Servoing for robot manipulators, where the goal is to track the 3D position and orientation of the target. The stereo system with 2 USB cameras is uncalibrated with respect to the robot base frame and the transformation between them is estimated on-line while performing the task. Dynamic impedance control is designed to generate...
This paper introduces 6 new image features to provide a solution to the open problem of uncalibrated 6D image-based visual servoing for robot manipulators, where the goal is to control the 3D position and orientation of the robot end-effector using visual feedback. One of the main contributions of this article is a novel stereo camera model which employs virtual orthogonal cameras to map 6D Cartesian...
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