Three-dimensional camera space manipulation
International Journal of Robotics Research
Mathematical control theory: deterministic systems
Mathematical control theory: deterministic systems
Eye-to-hand coordination for vision-guided robot control applications
International Journal of Robotics Research
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Dexterous robot manipulation
What Tasks can be Performed with an Uncalibrated Stereo Vision System?
International Journal of Computer Vision
Robot Vision
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Calibration-free visual control using projective invariance
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Vision-based control of uncertain systems
Vision-based control of uncertain systems
Hybrid Force and Vision-Based Contour Following of Planar Robots
Journal of Intelligent and Robotic Systems
Image-based robot task planning and control using a compact visual representation
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Binocular vision-based robot control with active hand-eye coordination
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Online boosting for vehicle detection
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on game theory
Visual servoing of redundant manipulator with Jacobian matrix estimation using self-organizing map
Robotics and Autonomous Systems
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This article addresses the visual servoing of a rigid robotic manipulator equipped with a binocular vision system in eye-to-hand configuration. The control goal is to move the robot end-effector to a visually determined target position precisely without knowing the precise camera model. Many vision-based robotic positioning systems have been successfully implemented and validated by supporting experimental results. Nevertheless, this research aims at providing stability analysis for a class of robotic set-point control systems employing image-based feedback laws. Specifically, by exploring epipolar geometry of the binocular vision system, a binocular visual constraint is found to assist in establishing stability property of the feedback system. Any three-degree-of-freedom positioning task, if satisfying appropriate conditions with the image-based encoding approach, can be encoded in such a way that the encoded error, when driven to zero, implies that the original task has been accomplished with precision. The corresponding image-based control law is proposed to drive the encoded error to zero. The overall closed-loop system is exponentially stable provided that the binocular model imprecision is small.