A robot ping-pong player: experiment in real-time intelligent control
A robot ping-pong player: experiment in real-time intelligent control
Three-dimensional camera space manipulation
International Journal of Robotics Research
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
The Confluence of Vision and Control
The Confluence of Vision and Control
Computer and Robot Vision
Preliminary Experiments in Spatial Robot Juggling
The 2nd International Symposium on Experimental Robotics II
Explicit Incorporation of 2D Constraints in Vision Based Control of Robot Manipulators
The Sixth International Symposium on Experimental Robotics VI
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In image-based visual servo control, since control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, trajectories that the robot executes, while pleasing in the image plane, can be quite contorted in the Cartesian space. In this paper we describe a partitioned approach to visual servo control that overcomes this problem. In particular, we decouple the z-axis rotational and translational components of the control from the remaining degrees of freedom. Then, to guarantee that all features remain in the image throughout the entire trajectory, we incorporate a potential function that repels feature points from the boundary of the image plane. We illustrate the new control scheme with a variety of simulations and laboratory experiments.