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 …

The objective of this paper is to propose a new homography-based approach to image-
based visual tracking and servoing. The visual tracking algorithm proposed in the paper is …

It has been almost two decades since the first globally tracking convergent adaptive
controllers were derived for robot with dynamic uncertainties. However, the problem of …

In the classical image-based visual servoing framework, error signals are directly computed
from image feature parameters, allowing, in principle, control schemes to be obtained that …

Autonomous delivery of goods using a Micro Air Vehicle (MAV) is a difficult problem, as it
poses high demand on the MAV's control, perception and manipulation capabilities. This …

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 …

This paper addresses the problem of autonomous servoing an unmanned redundant aerial
manipulator using computer vision. The overactuation of the system is exploited by means of …

This paper deals with the modeling and vision-based control of large-dimension cable-
driven parallel robots. Inverse kinematics and instantaneous inverse kinematics models are …

This paper presents a simple vision based setpoint controller with adaptation to uncertainty
in depth information. Depth uncertainty plays a special role in vision based control as it …

In force control applications of robots, it is difficult to obtain an exact model of a constraint
surface. In presence of the constraint uncertainty, the robot needs to adapt to the uncertainty …