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Visual servo control. II. Advanced approaches [Tutorial]
Abstract
This article is the second of a two-part tutorial on visual servo control. In this tutorial, we have only considered velocity controllers. It is convenient for most of classical robot arms. However, the dynamics of the robot must of course be taken into account for high speed task, or when we deal with mobile nonholonomic or underactuated robots. As for the sensor, geometrical features coming from a classical perspective camera is considered. Features related to the image motion or coming from other vision sensors necessitate to revisit the modeling issues to select adequate visual features. Finally, fusing visual features with data coming from other sensors at the level of the control scheme will allow to address new research topics
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Cited by
Dual arm manipulation—A survey
Smith, C., Karayiannidis, Y., Nalpantidis, L., Gratal, X., Qi, P., Dimarogonas, D. V., & Kragic, D. (2012) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2012.07.005 · Cited by 560
MAKOMO, T. J., ERİN, K., & BORU, B. (2020) · Sakarya University Journal of Science · doi:10.16984/saufenbilder.655716 · Cited by 2
Metadata
- Authors
- Chaumette, F., & Hutchinson, S.
- Venue
- IEEE Robotics & Automation Magazine
- Published
- 2007-03
- Volume
- 14
- Issue
- 1
- Pages
- 109-118
- ISSN
- 1070-9932 (ISSN-L)
- 1558-223X
- OpenAlex
- W2111691855
- Cited by
- 1,032
- References
- 0
- FWCI
- 67.64
- Type
- journal article
- Language
- en
- Open access
- closed
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- Chaumette, F., & Hutchinson, S. (2007). Visual servo control. II. Advanced approaches [Tutorial]. IEEE Robotics & Automation Magazine. https://doi.org/10.1109/mra.2007.339609
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
