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Exponentially stable positioning of a rigid robot using stereo vision

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2 Author(s)
Wen-Chung Chang ; Inst. of Electr. Eng., Nat. Dong Hwa Univ., Taiwan, China ; Morse, A.S.

This article addresses the visual servoing of a rigid robotic manipulator under fixed camera configuration. The control goal is to move the robot end-effector to a visually determined target position by using a vision system equipped with two fixed cameras. A general image-based controller is proposed to achieve “precise” positioning in the absence of measurement noise. Based on the “epipolar constraint”, we have shown that the overall closed-loop system using redundant image features, is exponentially stable provided that the camera model imprecision is small

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Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:1 )

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