An alternative approach for image-plane control of robots

The article distinguishes between camera-space manipulation and visual servoing; it identifies application categories which particularly favor the former. Using a 2-dimensional, 2-degree-of-freedom example, a point of convergence between the two methods is identified. This is based upon an extension of visual servoing wherewith a Kalman Filter is used to estimate the ongoing visual-error signal from discrete-time, noisy, delayed and possibly intermittent visual input combined with continuous joint-rotation input. A working, nonholonomic, vision-based control system which applies a similar estimation strategy is introduced in order to illustrate and make plausible this extension, and to clarify the comparison. The comparison is discussed in terms of advantages/disadvantages accrued in the restoration of the two methods to their usual forms from their respective extensions or modifications as required to produce convergence.

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