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A decoupled image space approach to visual servo control of a robotic manipulator

Mahony, Robert; Hamel, Tarek; Chaumette, Francois


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...[Show more]

CollectionsANU Research Publications
Date published: 2002
Type: Conference paper
Source: Proceedings of the 2002 IEEE International Conference on Robotics and Automation


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