Robust 3D vision based control and planning
Ph. Zanne, Guillaume Morel, Franck Plestan · 2004
In this paper, we present a method to plan and control the 6 DOF displacements of a manipulator from an eye-in-hand camera image. With this method, even in the presence of camera calibration errors, we can formally guarantee that the system is stable and that the entire target remains visible during any visually servoed motion.