Fadi Alkhalil

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In this paper, we present a new stereo visual servoing (SVS) with decoupling properties. The proposed approach is not related to the position-based nor image-based categories as the state vectors are built from the two-view affine geometry and the visual measurements. The Plücker coordinates are used to model many types of visual features like 3-D(More)
For about a decade and half, the tracking of nonrigid mechanical structures have been started to be investigated. For tasks with collaborative robots or obstacles avoidance with redundant arms, the motion tracking of the structure of interest is rather a 3-D tracking with moving visual sensors, and then, there is a need of including visual servoing(More)
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