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Online computation of feature sensitivity matrix for visual servo control of robots

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3 Author(s)
Kim, K. ; Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea ; Jang, W. ; Bien, Z.

For image-based visual servoing of a robot, it is necessary to determine a feature sensitivity matrix G indicating the relation between small feature changes and differential motion of the camera mounted on the robot. In this letter, a new scheme for online computation of the G matrix is proposed. The proposed scheme, which requires no knowledge of relative object position, is simple, owing to a coaxially-aligned dual camera set, and would be effective for vision-based control of manipulators or mobile robots

Published in:

Electronics Letters  (Volume:24 ,  Issue: 9 )

Date of Publication:

28 Apr 1988

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