Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
نویسندگان
چکیده
منابع مشابه
Visual servoing of an under-actuated dynamic rigid-body system: an image-based approach
A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to “eye-in-hand” systems where the camera is fixed to a rigid body with actuated dynamics. The control design is motivated by a theoretical analysis of the dynamic equations of motion of a rigid body and exploits passivity-like properties of th...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics and Automation
سال: 2002
ISSN: 1042-296X
DOI: 10.1109/tra.2002.999647