Uncalibrated Visual Servo control with multi-constraint satisfaction

  title={Uncalibrated Visual Servo control with multi-constraint satisfaction},
  author={Muhammad Umer Khan and Ibrar ullah Jan and Abrar Ahmed and Muhammad Ajmal Azad and Naeem Iqbal},
  journal={2011 IEEE International Conference on Robotics and Automation},
This paper devises a new multicriteria image-based controller for the control of six degrees of freedom (PUMA560) robotic arm, based upon Linear Matrix Inequality (LMI). The aim lies in developing such a method that neither involves camera calibration parameters nor inverse kinematics. The approach adopted in this paper includes transpose Jacobian control; thus, inverse of the Jacobian matrix is no longer required. The proposed controller allows stabilizing the camera despite the unknown value… CONTINUE READING


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