Feature-based visual servoing and its application to telerobotics
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 164-171
- https://doi.org/10.1109/iros.1994.407395
Abstract
Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to telerobotics systems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space teleoperation system.Keywords
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