A new partitioned approach to image-based visual servo control

Peter I. Corke, Seth A. Hutchinson

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)507-515
Number of pages9
JournalIEEE Transactions on Robotics and Automation
Issue number4
StatePublished - Aug 2001
Externally publishedYes


  • Image-based visual servo
  • Potential field
  • Visual servo

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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