Vargas Villanueva, ManuelRodríguez Rubio, FranciscoMalpesa, A.R.2021-01-212021-01-211999Vargas Villanueva, M., Rodríguez Rubio, F. y Malpesa, A.R. (1999). Pose-estimation and control in a 3D visual servoing system. En IMACS World Congress (802-808), Beijing, China: Elsevier.2405-8963https://hdl.handle.net/11441/10404514th World Congress of IFAC, Beijing, China 1999The present work studies the case of a 3D visual servoing system composed by a robot manipulator, a CCD camera rigidly mounted on the end-effector of the robot, and other computer-based hardware. The aim of the system is to keep a desired relative position and orientation between the object and the camera, compensating for the autonomous object motion. Two existing algorithms for object's pose estimation have been implemented. Several controllers are designed and its performance evaluated along the paper.application/pdf7 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Robotic manipulatorsMatrix equationsImage processinginfo:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/openAccesshttps://doi.org/10.1016/S1474-6670(17)56136-4