Visual Servoing: Path Interpolation by Homography Decomposition

  title={Visual Servoing: Path Interpolation by Homography Decomposition},
  author={Justin A. Borgstadt and Nicola J. Ferrier},
In order to successfully perform visual servoing of robot manipulators the control algorithm must account for the physical limitations of the manipulator. These constraints de ne the robot workspace boundary. Any visual servoing control algorithm must avoid this boundary if stability of motion is to be ensured. In this paper, a method is developed by which a desired object path can be interpolated between two arbitrary object poses based on image feature extraction. This path is de ned to be a… CONTINUE READING