Yoani Guerra

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In this paper, the 2-D control problem of a camera-in-hand robotic manipulator system is considered. The aim is to control the robot arm in such a way that the image of the tracked object coincides with the centre of the image plane. We propose a new control strategy with two loops in cascade, the internal loop solves the robot's joint control and the(More)
In this paper, the control problem, in a 3D cartesian space, of camera-in-hand robotic systems is considered. In this approach, a camera is mounted on the robot, at the hand, which provides an image of objects located in the robot environment. The aim of this approach is to move the robot arm in such a way that the image of the considered object, a sphere(More)
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