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

Abstract : An image-based visual servo control is presented for a robotic manipulator. The proposed control design ad- dresses visual servo of 'eye-in-hand' type systems. Us- ing 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 ori- entation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved.
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Submitted on : Monday, January 12, 2009 - 2:24:22 PM
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  • HAL Id : inria-00352092, version 1


R. Mahony, Tarek Hamel, François Chaumette. A decoupled image space approach to visual servo control of a robotic manipulator.. IEEE Int. Conf. on Robotics and Automation, ICRA'02, 2002, Washington DC, United States. pp.3781-3786. ⟨inria-00352092⟩



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