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

IEEE Transactions on Automation Science and Engineering, pp. 406-419, 2019.

Cited by: 11|Views31


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 efficie...More



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