A control basis for visual servoing tasks

This article discusses a set of three controllers that can be used as a basis for visual servoing tasks. These controllers map image plane feature errors to actuator commands through visuo-motor Jacobians. It is shown how unary and binary image plane constraints can be used to specify visual servoing tasks. A specific visual servoing task is described and the experimental results are presented.

[1]  C. S. George Lee,et al.  Model-based visual feedback control for a hand-eye coordinated robotic system , 1992, Computer.

[2]  Nikolaos Papanikolopoulos,et al.  Visual Servoing for Robotic Assembly , 1993 .

[3]  Seth Hutchinson,et al.  Visual compliance: task-directed visual servo control , 1994, IEEE Trans. Robotics Autom..

[4]  Giorgio C. Buttazzo,et al.  Mousebuster: a robot system for catching fast moving objects by vision , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[5]  Peter K. Allen,et al.  Hand-Eye Coordination for Robotic Tracking and Grasping , 1993 .

[6]  Lee E. Weiss,et al.  Dynamic sensor-based control of robots with visual feedback , 1987, IEEE Journal on Robotics and Automation.

[7]  Nikolaos Papanikolopoulos,et al.  Six degree-of-freedom hand/eye visual tracking with uncertain parameters , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.