Visual servoing has been a viable method of robot manipulator control for more than a decade. Initial developments involved positionbased visual servoing (PBVS), in which the control signal exists in Cartesian space. The younger method, image-based visual servoing (IBVS), has seen considerable development in recent years. PBVS and IBVS offer tradeoffs in performance, and neither can solve all t...

Visual servoing is a method to achieve precise positioning and motion control of objects by visual feedback, it widely applied in the fields robotics unmanned aerial vehicles (UAVs) recent years. This paper presents novel image-based (IBVS) for UAVs based on fuzzy logic effectively solve problem under field view constraint improve efficiency. In this paper, servo gain designed input servoing, w...

This paper describes a multi-rate approach based on the extensive use of Dual-rate High Order Holds for visual servoing systems. Moreover a complete description of a general multi-rate approach, comparing Dual-rate Image-Based Visual Servoing algorithm with Dual-rate PID controller, where the PID is separated into its two different dynamics, using two different sampling periods is presented. In...

In this paper an impedance control scheme is described in order to allow the joint use of visual and force information for controlling a robot during the tracking of a surface. A visual servoing system is employed for following a trajectory in the image space. The impedance control modifies the trajectory obtained from the visual servoing system allowing the system to maintain a constant force ...

This paper proposes a real-time, robust and effective tracking framework for visual servoing applications. The algorithm is based on the fusion of visual cues and on the estimation of a transformation (either a homography or a 3D pose). The parameters of this transformation are estimated using a non-linear minimization of a unique criterion that integrates information both on the texture and th...

This paper describes experiments in estimation and control of the fixation point with a 10 degree of freedom head-neck-body system. A system has been constructed which uses standard kinematic techniques to estimate the fixation point. Two approaches have been investigated to control the fixation point: 30 kinematic estimation and 2 0 visual servoing. Kinematics is shown to be efficient provided...

We investigate the exploitation of linear models of cameraobject interaction for an efficient modeling and control of image-based visual servoing systems. The approach includes a method for coping with those representation ambiguities typical of linear interaction models which may affect both planning and control. The implementation of an eye-in-hand servoing system based on affine camera model...

Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-e ector. Most such methods use robots and cameras that have been calibrated. In this report we suggest a non-metric formulation of visual servoing that works with an uncalibrated stereo rig, i.e. in the projective space associated with it. In consequenc...

In visual servoing, most studies are concerned with robotic application with known objects. In this paper, the problem of controlling a motion by visual servoing around an unknown object is addressed. In this case, the approach is interpreted as an initial step towards a perception goal of an unmodeled object. The main goal is to perform motion with regard to the object in order to discover sev...

Object tracking is an important issue for research and application related to visual servoing and more generally for robot vision. In this paper, we address the problem of realizing visual servoing tasks on complex objects in real environments. We briefly present a set of tracking algorithms (2D features-based or motion-based tracking, 3D model-based tracking, . . . ) that have been used for te...