A "robust" convergent visual servoing system
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 348-353
- https://doi.org/10.1109/iros.1995.525819
Abstract
This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper's spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments.Keywords
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