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Robot Modeling and Control
Preface. 1. Introduction. 2. Rigid Motions and Homogeneous Transformations. 3. Forward and Inverse Kinematics. 4. Velocity Kinematics-The Jacobian. 5. Path and Trajectory Planning. 6. Independent…
A tutorial on visual servo control
- S. Hutchinson, Gregory Hager, Peter Corke
- Computer ScienceIEEE Trans. Robotics Autom.
- 1 December 1996
This article provides a tutorial introduction to visual servo control of robotic manipulators by reviewing the prerequisite topics from robotics and computer vision, including a brief review of coordinate transformations, velocity representation, and a description of the geometric aspects of the image formation process.
Visual Servo Control Part I: Basic Approaches
The present article describes the basic techniques that are by now well established in the field of visual servo control: using computer vision data in the servo loop to control the motion of a robot.
Visual servo control. I. Basic approaches
This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot using basic techniques that are by now well established in the field.
A new partitioned approach to image-based visual servo control
A partitioned approach to visual servo control is introduced that decouple the x-axis rotational and translational components of the control from the remaining degrees of freedom and incorporates a potential function that repels feature points from the boundary of the image plane.
Visual Servo Control Part II : Advanced Approaches
his article is the second of a two-part tutorial on visual servo control. In Part I (IEEE Robotics and Automation Magazine, vol. 13, no. 4), we introduced fundamental concepts and descr ibed basic…
Principles of Robot Motion: Theory, Algorithms, and Implementation ERRATA!!!! 1
Visual Servoing and Visual Tracking
This chapter introduces visual servo control, using computer vision data in the servo loop to control the motion of a robot, and describes the two archetypal visual Servo control schemes: image-based and position-based visual servos.
Visual servo control. II. Advanced approaches [Tutorial]
This tutorial has only considered velocity controllers, which is convenient for most of classical robot arms and geometrical features coming from a classical perspective camera is considered.
A Framework for Real-time Path Planning in Changing Environments
A new method for generating collision-free paths for robots operating in changing environments by constructing a graph that represents a roadmap in the configuration space, and how the mapping is generated and how it can be encoded efficiently using compression schemes that exploit redundancy in the mapping.