Potential problems of stability and convergence in image-based and position-based visual servoing | Zendy

François Chaumette | Zendy

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Potential problems of stability and convergence in image-based and position-based visual servoing

Author(s) -

François Chaumette

Publication year - 1998

Publication title -

lecture notes in control and information sciences

Language(s) - English

Resource type - Book series

SCImago Journal Rank - 0.173

H-Index - 49

eISSN - 1610-7411

pISSN - 0170-8643

DOI - 10.1007/bfb0109663

Subject(s) - visual servoing , convergence (economics) , position (finance) , task (project management) , stability (learning theory) , computer vision , artificial intelligence , image (mathematics) , control theory (sociology) , computer science , control (management) , mathematics , engineering , machine learning , systems engineering , finance , economics , economic growth

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.

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