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Partitioned Image-Based Visual Servo Control: Some New Results

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Sensor Based Intelligent Robots

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2238))

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Abstract

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.

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Author information

Authors and Affiliations

  1. CSIRO Manufacturing Science & Technology, 4069, Pinjarra Hills, Australia

    Peter Corke

  2. Beckman Institute for Advanced Technology, University of Illinois at Urbana-Champaign, 61801, Urbana, Illinois, USA

    Seth Hutchinson & Nicholas R. Gans

Authors
  1. Peter Corke
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  2. Seth Hutchinson
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  3. Nicholas R. Gans
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Johns Hopkins University, Baltimore

    Gregory D. Hager

  2. Center for Autonomous Systems, CVAP, Royal Institute of Technology, Sweden

    Henrik Iskov Christensen

  3. Department of Computer Science, University of Bern, German

    Horst Bunke

  4. Institute for Computer Science I, University of Bonn, USA

    Rolf Klein

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© 2002 Springer-Verlag Berlin Heidelberg

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Corke, P., Hutchinson, S., Gans, N.R. (2002). Partitioned Image-Based Visual Servo Control: Some New Results. In: Hager, G.D., Christensen, H.I., Bunke, H., Klein, R. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science, vol 2238. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45993-6_8

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  • DOI: https://doi.org/10.1007/3-540-45993-6_8

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43399-6

  • Online ISBN: 978-3-540-45993-4

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