Image Based Visual Servoing Using Bitangent Points Applied to Planar Shape Alignment
E. Ozgur, M. Unel
The 13th IASTED International Conference on Robotics and Applications (RA’07)
We present visual servoing strategies based on bitangents for aligning planar shapes. In order to acquire bitangents we use convex-hull of a curve. Bitangent points are em ployed in the construction of a feature vector to be used in visual control. Experimental results obtained on a 7 DOF Mitsubishi PA10 robot, veriﬁes the proposed method.