Skip navigation
Skip navigation

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

Mahony, Robert; Hamel, Tarek; Chaumette, Francois

Description

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
URI: http://hdl.handle.net/1885/74478
Source: Proceedings of the 2002 IEEE International Conference on Robotics and Automation

Download

There are no files associated with this item.


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  20 July 2017/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator