Abstract
In image-based visual servo control, where 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, the robot executes trajectories that are desirable in the image, but which can be indirect and seemingly contorted in Cartesian space. In this paper, we introduce a new 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 our new control scheme with a variety of results.
Original language | English (US) |
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Pages (from-to) | 507-515 |
Number of pages | 9 |
Journal | IEEE Transactions on Robotics and Automation |
Volume | 17 |
Issue number | 4 |
DOIs | |
State | Published - Aug 2001 |
Keywords
- Image-based visual servo
- Potential field
- Visual servo
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering