Robust Precision Manipulation With Simple Process Models Using Visual Servoing Techniques With Disturbance Rejection.

This paper presents a high-performance vision-based precision manipulation technique that does not rely on an object, contact, or gripper model, which are challenging and often times impractical to acquire. Instead, we utilize a simple process model that roughly maps object velocities to actuator velocities, and we maintain system efficiency and robustness via advanced vision-based control techniq...