Image-based visual servoingusing position and angle of image features

摘要

A new image-based visual servoing, using position and angle of image features, is presented. The proposed method can manipulate the three-dimensional trajectory of a robot by using only the error defined in the two-dimensional image plane. Experimental results show that the proposed method has a linear trajectory for the selected one point in the gripper, and so avoids collision with the work table or other objects.