Position Control Experiments Using Vision

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Abstract
This article presents results of experiments carried out to test the vision-based method of camera-space manipulation using a fully three-dimensional rigid-body mating task. In this work, the performance of the method under various operating conditions is studied experimentally using a large six-axis manipulator. Further, an analytical study is carried out to understand the influence of relative orientation of cameras and their number on the terminal positioning precision expected with the method.

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