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 …

Vision guided robotics has been one of the major research issue for more than three
decades. The more recent technological development facilitated the advancement in the …

This paper proposes a sensor-based design methodology in order to design a Delta robot
with guaranteed accuracy performance for a dedicated sensor-based controller. This sensor …

This paper investigates vision-based robot control based on passivity for three-dimensional
(3-D) target tracking. First, using standard body-attached coordinate frames (the world frame …

In this paper, we investigate the visual tracking problem for robotic systems without image-
space velocity measurement, simultaneously taking into account the uncertainties of the …

This paper is concerned with the use of a spherical-projection model for visual servoing from
three points. We propose a new set of six features to control a 6-degree-of-freedom (DOF) …

Separation of the kinematic and dynamic loops is important for industrial/commercial robotic
applications (ie, for designing kinematic control schemes) and also for simplifying the …

Visual control of robot motion may benefit from enhanced camera field of view. With
traditional cameras the available fields of view are only enough to view a region around the …

This paper presents a discrete learning controller for vision-guided robot trajectory imitation
with no prior knowledge of the camera-robot model. A teacher demonstrates a desired …

Over the past decade, image moments have been exploited in several visual servoing
schemes for their ability to represent object regions, objects defined by contours or a set of …