A decoupled image space approach to visual servo control of a robotic manipulator

Robert Mahony; Tarek Hamel; Francois Chaumette

doi:10.1109/ROBOT.2002.1014305

A decoupled image space approach to visual servo control of a robotic manipulator

Robert Mahony, Tarek Hamel, Francois Chaumette

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

Abstract

An image-based visual servo control is presented for a robotic manipulator. The proposed control design addresses visual servo of 'eye-in-hand' type systems. Using a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the orientation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved.

Original language	English
Pages (from-to)	3781-3786
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
DOIs	https://doi.org/10.1109/ROBOT.2002.1014305
Publication status	Published - 2002

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10.1109/ROBOT.2002.1014305

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A decoupled image space approach to visual servo control of a robotic manipulator

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