Image-based visual servoing using position and angle of image features

Abstract

A new image-based visual servoing, using position and angle bf 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 ether objects.