Camera modelling for visual servo control applications

Fixed-camera visual servo control for planar robots

Rafael Kelly Paul Shirkey and Mark W. Spong Divisi on de F sica Aplicada University of Illinois CICESE, Apdo. Postal 2615, Adm. 1 Coordinated Science Laboratory Carretera Tijuana{Ensenada Km. 107 1308 West Main Street Ensenada, B. C., 22800 Urbana, IL 61801 MEXICO USA Abstract We present a new controller to solve the visual servo control problem for planar robots in the xed{ camera con guration...

Adaptive Visual Servo Control

Performance Tests for Visual Servo Control Systems, with Application to Partitioned Approaches to Visual Servo Control

Visual servoing has been a viable method of robot manipulator control for more than a decade. Initial developments involved position-based visual servoing (PBVS), in which the control signal exists in Cartesian space. The younger method, image-based visual servoing (IBVS), has seen considerable development in recent years. PBVS and IBVS offer tradeoffs in performance, and neither can solve all ...

Adaptive servo visual robot control

Adaptive controllers for robot positioning and tracking using direct visual feedback with camera-in-hand configuration are proposed in this paper. The controllers are designed to compensate for full robot dynamics. Adaptation is introduced to reduce the design sensitivity due to robot and payload dynamics uncertainties. It is proved that the control system achieves the motion control objective ...

A Switching Approach to Visual Servo Control

In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper, we introduce a new switching approach, in which a high-level decision maker determines which of two lowlevel visual servo controllers should be used at each control cycle. We introduce two new low-level controllers, one that relies on the homography between initial and goal image...