%0 Conference Proceedings
%F Mahony02a
%A Mahony, R.
%A Hamel, T.
%A Chaumette, F.
%T A decoupled image space approach to visual servo control of a robotic manipulator
%B IEEE Int. Conf. on Robotics and Automation, ICRA'02
%V 	 3
%P 3781-3786
%C Washington DC
%X An image-based visual servo control is presented for a robotic manipulator. The proposed control design ad- dresses visual servo of 'eye-in-hand' type systems. Us- ing a novel representation of the visual error based on a spherical representation of target centroid information along with a measure of the rotation between the camera and the target, the control of the position and orientation is decoupled. A non-linear gain introduced into the ori- entation feedback kinematics prevents the target image from leaving the visual field. Semi-global convergence of the closed loop system is proved
%U http://rainbow-doc.irisa.fr/pdf/2002_icra_mahony.pdf
%8 May
%D 2002