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Visual Servoing of an Under-Actuated Dynamic Rigid-Body System: An Image-Based Approach

Hamel, Tarek; Mahony, Robert


A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to "eye-in-hand" systems where the camera is fixed to a rigid body with actuated dynamics. The control design is motivated by a theoretical analysis of the dynamic equations of motion of a rigid body and exploits passivity-like properties of these dynamics to derive a Lyapunov control algorithm using robust backstepping techniques. The proposed...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Journal article
Source: IEEE Transactions on Robotics and Automation
DOI: 10.1109/TRA.2002.999647


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