Tele-Visual Servoing of Robotic Mamipulators; Design, Implementation and Technical Issues

Visual Servoing for Robotic Assembly

Visual feedback has traditionally been used in the assembly process to a very limited extent. With the advent of effective visual servoing techniques, visual feedback can become an integral part of the assembly process by complementing the use of force feedback to accomplish precision assemblies in imprecisely calibrated robotic assembly workcells. In this paper we present some of the issues pe...

Experiments in High-Performance Robotic Visual Servoing

| This paper discusses some important control design issues for robot visual servoing, in particular high-performance tracking. The limitations of pure visual feedback control are discussed, and an approach based on axis velocity control and estimated target velocity feedforward is proposed. Experimental results are obtained with a 50Hz low-latency vision system and an end-eeector mounted camer...

Intelligent Visual Servoing for Robotic Control

Dynamic Position-Based Visual Servoing of Robotic Manipulators

− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...

Shape Morphing-Based Control of Robotic Visual Servoing

We present an approach for controlling robotic interactions with objects, using synthetic images generated by morphing shapes. In particular, we attempt the problem of positioning an eye-in-hand robotic system with respect to objects in the workspace for grasping and manipulation. In our formulation, the grasp position (and consequently the approach trajectory of the manipulator), varies with e...