{"id":"https://openalex.org/W2142678724","doi":"https://doi.org/10.1109/cdc.2002.1184282","title":"Adaptive 2.5D visual servoing of kinematically redundant robot manipulators","display_name":"Adaptive 2.5D visual servoing of kinematically redundant robot manipulators","publication_year":2003,"publication_date":"2003-08-27","ids":{"openalex":"https://openalex.org/W2142678724","doi":"https://doi.org/10.1109/cdc.2002.1184282","mag":"2142678724"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2002.1184282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5058644546","display_name":"Yongchun Fang","orcid":"https://orcid.org/0000-0002-3061-2708"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Y. Fang","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021820083","display_name":"Aman Behal","orcid":"https://orcid.org/0000-0001-8458-1591"},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Behal","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Clemson University, Clemson, SC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Clemson University, Clemson, SC, USA","institution_ids":["https://openalex.org/I8078737"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032651215","display_name":"Warren E. Dixon","orcid":"https://orcid.org/0000-0002-5091-181X"},"institutions":[{"id":"https://openalex.org/I1289243028","display_name":"Oak Ridge National Laboratory","ror":"https://ror.org/01qz5mb56","country_code":"US","type":"facility","lineage":["https://openalex.org/I1289243028","https://openalex.org/I1330989302","https://openalex.org/I39565521","https://openalex.org/I4210159294"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"W.E. Dixon","raw_affiliation_strings":["Eng. Science and Tech. Div, Oak Ridge National Lab., Oak Ridge, TN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Eng. Science and Tech. Div, Oak Ridge National Lab., Oak Ridge, TN","institution_ids":["https://openalex.org/I1289243028"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112213851","display_name":"D.M. Dawson","orcid":null},"institutions":[{"id":"https://openalex.org/I8078737","display_name":"Clemson University","ror":"https://ror.org/037s24f05","country_code":"US","type":"education","lineage":["https://openalex.org/I8078737"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D.M. Dawson","raw_affiliation_strings":["Department of Electrical & Computer Engineering, Clemson University, Clemson, SC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical & Computer Engineering, Clemson University, Clemson, SC","institution_ids":["https://openalex.org/I8078737"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.9296,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.96672888,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2860","last_page":"2865"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10638","display_name":"Optical measurement and interference techniques","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8445931077003479},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7178316116333008},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6363793611526489},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6190509796142578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6048104166984558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5381309390068054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5165601968765259},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5024306774139404},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.49012860655784607},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.47511276602745056},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.46001172065734863},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.45734310150146484},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.45151638984680176},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4288305938243866},{"id":"https://openalex.org/keywords/backstepping","display_name":"Backstepping","score":0.4253411293029785},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41065773367881775},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3559742569923401},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.2809349298477173},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2660403847694397},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22487956285476685},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08759501576423645},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08586212992668152}],"concepts":[{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8445931077003479},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7178316116333008},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6363793611526489},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6190509796142578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6048104166984558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5381309390068054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5165601968765259},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5024306774139404},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.49012860655784607},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.47511276602745056},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.46001172065734863},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.45734310150146484},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.45151638984680176},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4288305938243866},{"id":"https://openalex.org/C72218879","wikidata":"https://www.wikidata.org/wiki/Q4839759","display_name":"Backstepping","level":4,"score":0.4253411293029785},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41065773367881775},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3559742569923401},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.2809349298477173},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2660403847694397},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22487956285476685},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08759501576423645},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08586212992668152},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2002.1184282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2002.1184282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 41st IEEE Conference on Decision and Control, 2002.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W29820467","https://openalex.org/W170220620","https://openalex.org/W1487127700","https://openalex.org/W1510918013","https://openalex.org/W1514444483","https://openalex.org/W1539960013","https://openalex.org/W1554457116","https://openalex.org/W1575037797","https://openalex.org/W1575596356","https://openalex.org/W1618769561","https://openalex.org/W1657687175","https://openalex.org/W1994732751","https://openalex.org/W1996805891","https://openalex.org/W2024763827","https://openalex.org/W2048603489","https://openalex.org/W2066388740","https://openalex.org/W2086883518","https://openalex.org/W2100249329","https://openalex.org/W2108574718","https://openalex.org/W2127836456","https://openalex.org/W2128135221","https://openalex.org/W2129985600","https://openalex.org/W2131425059","https://openalex.org/W2141521146","https://openalex.org/W2147034097","https://openalex.org/W2152526946","https://openalex.org/W2161357383","https://openalex.org/W2167890514","https://openalex.org/W2171694674","https://openalex.org/W2329667520","https://openalex.org/W6606929550","https://openalex.org/W6637026366","https://openalex.org/W6872955105"],"related_works":["https://openalex.org/W1765905465","https://openalex.org/W2793080664","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W3034003528","https://openalex.org/W2143247663","https://openalex.org/W2281711232","https://openalex.org/W1864017312","https://openalex.org/W2050693590","https://openalex.org/W4313442219"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"the":[3,14,31,37,47,54,62,66,103,108,112,116,119,122,141,146,152,164,168],"3-dimensional":[4],"(3D)":[5],"position":[6,26,42,104,142],"and":[7,27,57,74,105,143],"orientation":[8,28,106,144],"of":[9,16,33,36,49,53,65,102,107,118,140,145,154,167,172],"a":[10,17,23,44,50,89,131,155,178],"camera":[11,41],"held":[12,150],"by":[13,70,151],"end-effector":[15,153],"robot":[18,67,158],"manipulator":[19],"is":[20,93,96,126,149,175],"regulated":[21],"to":[22,98,114,129,136],"constant":[24],"desired":[25,40],"despite":[29,160],"(i)":[30],"lack":[32,48],"depth":[34,87],"information":[35,77],"actual":[38],"or":[39],"from":[43],"target,":[45],"(ii)":[46],"3D":[51,75],"model":[52,64,166],"target":[55],"object,":[56],"(iii)":[58],"parametric":[59,161],"uncertainty":[60,162],"in":[61,163],"dynamic":[63,165],"manipulator.":[68,159],"Specifically,":[69],"fusing":[71],"2D":[72],"image-space":[73],"task-space":[76,90],"(i.e.,":[78],"2.5D":[79],"visual":[80],"servoing)":[81],"while":[82],"actively":[83],"adapting":[84],"for":[85],"unknown":[86],"information,":[88],"kinematic":[91],"controller":[92,174],"developed":[94],"that":[95],"proven":[97,176],"ensure":[99,137],"asymptotic":[100,138],"regulation":[101,139],"camera.":[109],"Based":[110],"on":[111],"desire":[113],"enhance":[115],"robustness":[117],"control":[120,134],"design,":[121],"integrator":[123],"backstepping":[124],"approach":[125],"then":[127],"utilized":[128],"develop":[130],"joint":[132],"torque":[133],"input":[135],"camera,":[147],"which":[148],"kinematically":[156],"redundant":[157],"robot.":[169],"The":[170],"stability":[171,180],"each":[173],"through":[177],"Lyapunov-based":[179],"analysis.":[181]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}