Potential problems of stability and convergence in image-based and position-based visual servoing
Résumé
Visual servoing, using image-based control or position-based control, generally gives satisfactory results. However, in some cases, convergence and stability problems may occur. The aim of this paper is to emphasize these problems by considering an eye-in-hand system and a positioning task with respect to a static target which constrains the six camera degrees of freedom.
Domaines
Robotique [cs.RO]
Origine : Fichiers éditeurs autorisés sur une archive ouverte