Control uncertainty in image-based visual servoing
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Robotics and Autonomous Systems
Optimal object configurations to minimize the positioning error in visual servoing
IEEE Transactions on Robotics
Brief paper: Vision-based control for rigid body stabilization
Automatica (Journal of IFAC)
Global task-space adaptive control of robot
Automatica (Journal of IFAC)
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Visual servoing methods are commonly classified as image-based or position-based, depending on whether image features or the camera position define the signal error in the feedback loop of the control law. Choosing one method over the other gives asymptotic stability of the chosen error but surrenders control over the other. This can lead to system failure if feature points are lost or the robot moves to the end of its reachable space. We present a hybrid switched-system visual servo method that utilizes both image-based and position-based control laws. We prove the stability of a specific, state-based switching scheme and present simulated and experimental results.