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This paper presents a new adaptive controller for visual servoing of robot manipulators based on the concept of depth-independent interaction matrix. By mapping the image error onto the joint space using the depth-independent interaction matrix, it is possible to make the unknown 3-D coordinates of the feature points linearly appear in the closed-loop dynamics of the system, so the unknown coordinates...
This paper presents a novel adaptive controller for image-based dynamic control of autonomous helicopter using an on-board camera. We assume that the intrinsic and extrinsic parameters of the camera and the geometric information of the features are unknown. The controller is developed based on two key ideas. First, we employ the depth-independent interaction matrices for autonomous helicopters to...
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. It is assumed that the intrinsic and extrinsic parameters of the camera are not calibrated. A new adaptive algorithm is developed to estimate the unknown parameters online, based on three original ideas. First, we use the...
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, provided that the intrinsic and extrinsic parameters of the camera are not calibrated. A new adaptive algorithm is developed to estimate the unknown parameters on-line based on three original ideas. First, we use the pseudo-inverse...
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