Title :
Potential problems of unstability and divergence in image-based and position-based visual servoing
Author :
Chaumette, Francois
Author_Institution :
INRIA Rennes, IRISA, Rennes, France
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
Visual servoing, using image-based control or position-based control, generally gives satisfactory results. However, in some cases, convergence and stability problems may occur. The aim of this paper is to emphasize these problems by considering an eye-in-hand system and a positioning task with respect to a static target which constrains the six camera degrees of freedom.
Keywords :
cameras; control engineering computing; position control; stability; visual servoing; divergence problems; eye-in-hand system; image-based control; image-based visual servoing; position-based control; position-based visual servoing; positioning task; static target; unstability problems; Adaptive optics; Cameras; Jacobian matrices; Optical imaging; Visual servoing; Vision-based control; Visual servoing;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
