RESEARCH PAPERS

visual servo control research papers




A tutorial on visual servo control
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ABSTRACT This article provides a tutorial introduction to visual servo control of robotic manipulators. Since the topic spans many disciplines our goal is limited to providing a basic conceptual framework. We begin by reviewing the prerequisite topics from robotics and 

Visual servo control. I. Basic approaches
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ABSTRACT This paper is the first of a two-part series on the topic of visual servo control using computer vision data in the servo loop to control the motion of a robot. In this paper, we describe the basic techniques that are by now well established in the field. We first give a 

A new partitioned approach to image-based visual servo control
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ABSTRACT In image-based visual servo control, where control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, the robot executes trajectories that are desirable in the image, but which can be 

Visual servo control, Part II: Advanced approaches
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Given a set of matches between the image measurements in the current image and in the desired one, the fundamental matrix, or the esential matrix if the camera is calibrated, can be recovered , and then used in visual servoing . Indeed, from the essential matrix, the 

Visual compliance: Task-directed visual servo control
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ABSTRACT This paper introduces visual compliance, a new vision-based control scheme that lends itself to task-level specification of manipulation goals. Visual compliance is effected by a hybrid vision/position control structure. Specifically, the two degrees of freedom parallel 

Dynamic visual servo control of robots: an adaptive image-based approach
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ABSTRACT Sensory systems, such as computer vision, can be used to measure relative robot end-effector positions to derive feedback signals for control of end-effector positioning. The role of vision as the feedback transducer affects closed-loop dynamics, and a visual 

A practical visual servo control for an unmanned aerial vehicle
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ABSTRACT An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target considered consists of a finite set of stationary and disjoint points lying 

Image-based visual servo control of aerial robotic systems using linear image features
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ABSTRACT An image-based" eye-in-hand"  visual servo-control design is proposed for underactuated rigid-body dynamics. The dynamic model considered is motivated by recent work on vertical takeoff and landing aerial robotic vehicles. The task considered is that of 

Visual servo control for the hovering of all outdoor robotic airship
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ABSTRACT Addresses the issue of automatic hovering of an outdoor autonomous airship using image-based visual servoing. The hovering controller is designed using a full dynamic model of the airship, in a PD error feedback scheme, taking the visual signals as output 

A new hybrid image-based visual servo control scheme
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ABSTRACT In image-based visual servo control, where control is effected with respect to the image, there is no direct control over the Cartesian velocities of the robot end effector. As a result, the robot executes trajectories that are desirable in the image, but which can be 

Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
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ABSTRACT In this paper, we investigate a range of image-based visual servo control algorithms for regulation of the position of a quadrotor aerial vehicle. The most promising control algorithms have been successfully implemented on an autonomous aerial vehicle and 

Choice of image features for depth-axis control in image based visual servo control
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ABSTRACT This paper is concerned with choosing image features for image based visual servo control and how this choice influences the closed-loop dynamics of the system. In prior work, image features tend to be chosen on the basis of image processing simplicity and noise 

Homography-based visual servo tracking control of a wheeled mobile robot
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ABSTRACT A visual servo tracking controller is developed in this paper for a monocular camera system mounted on an underactuated wheeled mobile robot (WMR) subject to nonholonomic motion constraints (ie, the camera-in-hand problem). A prerecorded image 

Image based visual servo control for a class of aerial robotic systems
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An image-based strategy for visual servo control of a class of dynamic systems is proposed. The class of systems considered includes dynamic models of unmanned aerial vehicles capable of quasi-stationary flight (hover and near hover flight). The control strategy 

Adaptive calibration and control of 2D monocular visual servo systems
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For most visual servo systems, accurate camera/robot calibration is essential for precision tasks, such as tracking time-varying end-effector trajectories in the image plane of a remote (or fixed) camera. This paper presents details of control-theoretic approaches to the 

Fixed-camera visual servo control for planar robots
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ABSTRACT We present a new controller to solve the visual servo control problem for planar robots in the fixed-camera configuration. For a static target we characterize the global closed loop attractor using the full robot dynamics, and prove local asymptotic stability of the end- 

Homography-based visual servo control with imperfect camera calibration
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ABSTRACT In this technical note, a robust adaptive uncalibrated visual servo controller is proposed to asymptotically regulate a robot end-effector to a desired pose. A homography- based visual servo control approach is used to address the six degrees-of-freedom 

Performance tests for visual servo control systems, with application to partitioned approaches tovisual servo control
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ABSTRACT Visual servoing has been a viable method of robot manipulator control for more than a decade. Initial developments involved position-based visual servoing (PBVS), in which the control signal exists in Cartesian space. The younger method, image-based 

Navigation function-based visual servo control
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In this paper, the mapping between the desired camera feature vector and the desired camera pose (ie, the position and orientation) is investigated to develop a measurable image Jacobian-like matrix. An image-space path planner is then proposed to generate a 

Multirate predictor control scheme for visual servo control
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An attractive control scheme for a position-based dynamic``look and move''eye-in-hand visual servo system is proposed. The multirate predictor control scheme is used to overcome the inherent delay in the vision system and the multirate nature of the dynamic look-and- 

Pure 2D Visual Servo control for a class of under-actuated dynamic systems
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ABSTRACT A pure image-based strategy for visual servo control of a class of dynamic systems is proposed. The proposed design concerns the dynamics of unmanned aerial vehicles capable of quasi-stationary flight (hover and near hover flight). The visual servo control 

Preliminary experiments in visual servo control for autonomous underwater vehicle
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ABSTRACT We consider a visually-guided autonomous underwater vehicle. We develop a position-based visual servo control of fixed and slow moving targets using visual position feedback and sensor-based orientation feedback. The visual position feedback is 

A decoupled image space approach to visual servo control of a robotic manipulator
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ABSTRACT An image-based visual servo control is presented for a robotic manipulator. The proposed control design addresses visual servo of'eye-in-hand'type systems. Using a novel representation of the visual error based on a spherical representation of target centroid 

A switching approach to visual servo control
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ABSTRACT In the recent past, many researchers have developed control algorithms for visual servo applications. In this paper we introduce a new switching approach, in which a high- level decision maker determines which of two low level visual servo controllers should be 

Design, fabrication, and visual servo control of an XY parallel micromanipulator with piezo-actuation
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ABSTRACT This paper presents a complete design and development procedure of a new XY micromanipulator for two-dimensional (2-D) micromanipulation applications. The manipulator possesses both a nearly decoupled motion and a simple structure, which is 

Quaternion-based visual servo control in the presence of camera calibration error
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ABSTRACT Visual servo control systems use information from images along with knowledge of the optic parameters (ie camera calibration) to position the camera relative to some viewed object. If there are inaccuracies in the camera calibration, then performance degradation 

Performance tests of partitioned approaches to visual servo control
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ABSTRACT Visual servoing has been a viable method of robot manipulator control for more than a decade. Image-based visual servoing (IBVS), in particular, has seen considerable development in recent years. Recently, a number of researchers have reported tasks for 

Visual servo control of a mobile robot using omnidirectional vision
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ABSTRACT To achieve a fully autonomous robot several individual sensory based tasks can be composed to accomplish a complete autonomous mission. These sensory based tasks can be distance detection with ultrasonic sensors to avoiding collision or stereo vision 


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