Abstract
This paper concerns eye-in-hand robotic applications that involve large relative displacements between the camera and the target object. A major concern for this type of task is to achieve simultaneously two different objectives. Firstly, the robot has to reach its desired final location relative to the target. Secondly, it must be guaranteed that the target stays in the camera’s field of view during the whole motion. This paper introduces a new vision based controller that guarantees a convergence towards the final location while keeping the whole target in the camera’ field of view.
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© 2000 Springer-Verlag London Limited
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Morel, G., Liebezeit, T., Szewczyk, J., Boudet, S., Pot, J. (2000). Explicit incorporation of 2D constraints in vision based control of robot manipulators. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119389
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DOI: https://doi.org/10.1007/BFb0119389
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