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Potential problems of stability and convergence in image-based and position-based visual servoing

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The confluence of vision and control

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 237))

Abstract

Visual servoing, using image-based control or position-based control, generally gives satisfactory results. However, in some cases, convergence and stability problems may occur. The aim of this paper is to emphasize these problems by considering an eye-in-hand system and a positioning task with respect to a static target which constrains the six camera degrees of freedom.

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David J. Kriegman PhD Gregory D. Hager PhD A. Stephen Morse PhD

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© 1998 Springer-Verlag

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Chaumette, F. (1998). Potential problems of stability and convergence in image-based and position-based visual servoing. In: Kriegman, D.J., Hager, G.D., Morse, A.S. (eds) The confluence of vision and control. Lecture Notes in Control and Information Sciences, vol 237. Springer, London. https://doi.org/10.1007/BFb0109663

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  • DOI: https://doi.org/10.1007/BFb0109663

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-025-5

  • Online ISBN: 978-1-84628-528-8

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