Standard vision-based control techniques can be classified into two groups: model-based and model-free visual servoing. Modelbased visual servoing is used when a 3D model of the observed object is available. If the 3D model is completely unknown, robot positioning can still be achieved using a teaching-by-showing approach. This modelfree technique needs a preliminary learning step during which ...

A camera, which is used as an artificial vision in visual servoing control, often has a zoom mechanism. A zoom mechanism cannot realize fast motion while an arm mechanism can, and it has only one degree of freedom. On the other hand the arm mechanism cannot cover wide range of change of images while the zoom mechanism can. In this paper, we propose a complementary visual servoing controller of ...

A shared control approach is proposed to reveal the synergies of visual servoing and telepresence in a robotic on-orbit servicing scenario. Both methods, visual servoing and telepresence, have their respective strengths and are subject to challenges for the task at hand. In a shared control approach, the advantages of a human operator in the loop, its ability to react and adapt to unanticipated...

The reliability and robustness of image-based visual servoing systems have recently received a growing interest. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations to control the 6 dof of an industrial robot manipulator (Mitsubishi PA-10) is proposed. Its control law has...

In this paper, evolving takagi-sugeno fuzzy models are applied to model a dynamic system, e.g. a six degrees of freedom robotic manipulator. In recent years the dynamic model was obtained off-line, but when the robot performs tasks away from the modeled workspace, it fails in achieve the goal. Then, the models must evolve when the robot moves to a previously un-modeled workspace. The models wer...

This paper presents a visual servoing of 6 degreeof-freedom (DOF) manipulator based on intersample disturbance rejection with switching scheme. In the controller, multirate intersample disturbance rejection algorithm is utilized, which was proposed by authors for general digital control system with restricted sampling frequency. The proposed feedforward scheme with open-loop estimation and swit...

The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable a...