Kim, D.Rizzi, A. A.Hager, G. D.Koditschek, Daniel E2023-05-222023-05-2219952013-11-12https://repository.upenn.edu/handle/20.500.14332/33880This 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*LabGRASPKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringPresentation