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A new visual servoing with obstacle avoidance method is presented in this paper. The basic idea of the method is to solve a constraint optimization problem using a sequential quadratic programming (SQP) method to get each control step. The objective function of the problem is a least squares of errors between the end-effector and the moving target in the image plane, and the constraint is used to...
A visual servoing method using a more precise model is presented in this paper. It uses a secant to approximate the second order term in the Hessian of the Newton model. This is different from the popular so-called quasi-Newton uncalibrated visual servoing method, which neglects the second order term directly. Its performance is superior to the so-called quasi-Newton uncalibrated visual servoing method,...
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