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—In this paper, we present two globally convergent vision-based position controllers for a planar two-links manipulator in the so-called fixed-camera configuration, where the camera orientation and scale factor are considered unknown. This is a basic adaptive visual servoing problem whose solution was hampered by the nonlinear dependence of the system(More)
This paper describes the development and implementation of a dynamic positioning system for Remotely Operated underwater Vehicles (ROVs) which is based on a mechanical Passive Arm (PA) for position measurement. The system, named DPSROV, is suited for tasks which require precise positioning within a limited range around a working site. The DPSROV was(More)