Visual Servoing Using Projective Kinematics

This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot’s geometry in particular, we introduce a new formalism “projective kinematics”. As a result, motions in joint- and image-space can be related without metric calibration, and a corresponding visual control law can be derived. We present experiments for projective robot calibration and visual servoing, both using uncalibrated cameras.

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