Keypoints-Based Adaptive Visual Servoing for Control of Robotic Manipulators in Configuration Space.
Sreejani ChatterjeeAbhay C. KaradeAbhinav GandhiBerk ÇalliPublished in: IROS (2023)
Keyphrases
- robotic manipulator
- visual servoing
- keypoints
- end effector
- configuration space
- vision system
- mobile robot
- degrees of freedom
- image based visual servoing
- control law
- motion planning
- robot control
- adaptive control
- image space
- path planning
- camera motion
- image features
- multiscale
- robot manipulators
- closed loop
- object recognition
- real time
- control scheme
- model free
- dynamic environments
- nonlinear systems
- robot arm
- dynamic programming
- control system
- viewpoint