摘要视觉伺服控制是机器人系统的重要控制手段. 随着机器人应用需求的日益复杂多样,
视觉伺服的研究面临着挑战. 视觉伺服系统的设计主要包括视觉系统, 控制策略和实现策略三个 …

Hierarchical least-square optimization is often used in robotics to inverse a direct function
when multiple incompatible objectives are involved. Typical examples are inverse …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

The control approaches based on the task function formalism, and particularly those
structured as a prioritized hierarchy of tasks, enable complex behaviors with elegant …

Visual servoing methods are commonly classified as image-based or position-based,
depending on whether image features or the camera position define the signal error in the …

This paper presents an online image-based visual servoing (IBVS) controller for a 6-degrees-
of-freedom (DOF) robotic system based on the robust model predictive control (RMPC) …

In this article, the image-based visual servoing (IBVS) problem for mobile robots with
visibility constraints is studied by using a policy-based deep reinforcement learning (DRL) …

In this paper, we propose a visual servoing scheme that imposes predefined performance
specifications on the image feature coordinate errors and satisfies the visibility constraints …

In this paper, a trifocal tensor-based approach is proposed for the visual trajectory tracking
task of a nonholonomic mobile robot equipped with a roughly installed monocular camera …

The task-based control framework is well established for its ability to generate complex
behavior in versatile robots. When executing multiple complex tasks, continuous and stable …