Departmental Papers (ESE)


This paper describes a simple visual servoing control algorithm capable of robustly positioning a three degree of freedom end effector based only on information from a stereo vision system. The proposed control algorithm does not require estimates of the gripper’s spatial position, a significant source of calibration sensitivity. The controller is completely immune to positional camera calibration errors, and we demonstrate robustness to orientation miscalibration through a series of simulations and experiments.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



BibTeX entry

@article{ kim-iros-1995, author = {D. Kim and A.A. Rizzi and G.D. Hager and D.E. Zoditschek}, title = {A "robust" convergent visual servoing system}, journal ={Intelligent Robots and Systems, IEEE/RSJ International Conference on}, volume = {1}, year = {1995}, isbn = {0-8186-7108-4}, pages = {348}, doi = {}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

Copyright 1995 IEEE. Reprinted from RSJ/IEEE International Conference on Intelligent Robots and Systems .

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Date Posted: 19 February 2014

This document has been peer reviewed.