This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in imagebased visual servoing (IBVS). Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived. A controller is designed to efficiently...

− This paper discusses dynamic visual servoing and proposes a position-based approach to visual servo control of robotic manipulators. Several dynamic visual servoing control architectures used for position-based are addressed in this paper, in order to motivate the proposed approach. In position-based visual servoing, the features used to control the robot manipulator, actual pose of the objec...

Abstract: Mobile robots that integrate visual servo control for facilitating autonomous grasping and manipulation are the focus of this paper. In view of mobility, they have wider application than traditional fixed-based robots with visual servoing. Visual servoing is widely used in mobile robot navigation. However, there are not so many report for applying it to mobile manipulation. In this pa...

The paper achieves a review of visual servoing approaches and their use in medical robotics. visual servoing, medical robotics, phonomicrosurgery

In this paper, evolving inverse fuzzy models obtained online for uncalibrated visual servoing in 3D workspace, are developed and validated in a six degrees of freedom robotic manipulator. This approach will recursively update the inverse fuzzy model based only on measurements at a given time instant. The uncalibrated approach does not require calibrated kinematic and camera models, as needed in...

This paper describes a vision-based servoing control scheme for legged robots to achieve a vision-guided swaying task utilizing a visual servoing technique. According to the controller, motions of the legs are not pre-programmed by analyzing the kinematics/dynamics of the system, but are generated by the servoing scheme reactively. The vision-based servoing scheme is a hybrid one consisting of ...

In this paper, a short survey of vision-based robot control (generally called visual servoing) is presented. Visual servoing concerns several field of research including vision systems, robotics and automatic control. Visual servoing can be useful for a wide range of applications and it can be used to control many different dynamic systems (manipulator arms, mobile robots, aircraft, etc.). Visu...

In this paper, we present a generic and flexible system for vision-based robot control. The system integrates several research areas (visual matching, visual tracking and visual servoing) in a unifying framework. In this framework, the flexibility is obtained using a template matching algorithm based on an efficient second-order minimization. Contrarily to feature-based visual servoing schemes,...

This chapter is dedicated to a new way to achieve robotic tasks by 2D visual servoing. Contrary to most of related works in this domain where geometric visual features are usually used, we directly here consider the luminance of all pixels in the image. We call this new visual servoing scheme photometric visual servoing. The main advantage of this new approach is that it greatly simplifies the ...

In this paper, asymptotic stability of uncalibrated eye-in-hand visual servoing is proved in an affine invariance approach. After a brief retrospection on the uncalibrated eye-inhand visual servoing, the affine invariance framework is introduced with discussion in depth. Then the visual servoing algorithm is reconstructed in an affine invariance framework, or more precisely as an affine contrav...