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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
TLDR
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
TLDR
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
TLDR
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
TLDR
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
Visual Servoing and Visual Tracking
TLDR
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]
TLDR
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
TLDR
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.
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