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2002
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A Decoupled Image Space Approach to Visual Servo Control of a Robotic Manipulator

9 years 4 months ago
A Decoupled Image Space Approach to Visual Servo Control of a Robotic Manipulator
An image-based visual servo control is presented for a robotic manipulator. The proposed control design addresses visual servo of 'eye-in-hand' type systems. Using a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the orientation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved.
Robert E. Mahony, Tarek Hamel, François Cha
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Robert E. Mahony, Tarek Hamel, François Chaumette
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