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A one‐step synthesis of symmetric biaryls is reported under very mild conditions via the homocoupling reaction of substituted arylboronic acids using an air‐ and moisture‐stable 4‐aminoantipyrine–Pd(II) complex as catalyst. The reaction is conducted at a low catalyst loading of 0.1 mol% at room temperature in methanol in the presence of K2CO3 as the base and KMnO4 as the oxidant. The catalytic methodology...
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 a new comprehensive solution for the open problem of uncalibrated 3D image-based stereo visual servoing for robot manipulators. One of the main contributions of this article is a novel 3D stereo camera model to map positions in the task space to positions in a new 3D Visual Cartesian Space (a visual feature space where 3D positions are measured in pixel). This model is used to...
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