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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 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...
This paper presents a new adaptive controller for dynamic tracking of a robot manipulator without visual velocity when the intrinsic and extrinsic parameters of the camera are not calibrated. Most controllers in the past require the measurement of the visual velocity or differentiation of the visual position. The measurement of the visual velocity is subject to big noises in general due to low sampling...
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