Robot hand-eye coordination based on stereo vision

@inproceedings{Hager1995RobotHC,
  title={Robot hand-eye coordination based on stereo vision},
  author={Gregory D. Hager and Wen-Chung Chang and A. Stephen Morse},
  year={1995}
}
This article describes the theory and implementation of a system that positions a robot manipulator using visual information from two cameras. The system simultaneously tracks the robot end-effector and visual features used to define goal positions. An error signal based on the visual distance between the end-effector and the target is defined, and a control law that moves the robot to drive this error to zero is derived. The control law has been integrated into a system that performs tracking… CONTINUE READING

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