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In this paper, we will study the uncalibrated vision-based positioning problem of wheeled mobile robots by using a ceiling-mounted camera. A new image-based visual servoing scheme will be proposed, which can cope with the unknown intrinsic and extrinsic parameters of the camera and the uncertain distance parameter of the feature point from geometric center of the mobile robot. The presented approach...
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 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 unknown robot dynamics parameters and unknown motion of the object. Based on the fact that the unknown position of the moving object appears linearly...
This paper presents a new controller for controlling a number of feature points on a robot manipulator to trace desired trajectories specified on the image plane of a fixed camera. The controller is designed to cope with the case when the intrinsic and extrinsic parameters of the camera as well as the robot parameters are not calibrated. The controller employs the depth-independent image Jacobian...
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 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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