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initial and desired positions of image features
500
450
1
400
350
0.5
300
y
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0
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250
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
Puma 560
−0.5
200
150
−1
1
100
0.5
1
desired coordinates
initial coordinates
0.5
50
0
0
−0.5
−0.5
0
−1
0
100
200
300
400
500
−1
Y
X
(a)
(b)
Fig. 14.2 : (a) Initial and final image feature locations, (b) the initial robot position
error
velocity
120
0.15
u1−u1d
v1−v1d
u2−u2d
v2−v2d
0.1
100
0.05
0
80
−0.05
−0.1
60
−0.15
40
−0.2
−0.25
20
−0.3
−0.35
0
0
5
10
15
20
0
5
10
15
20
(a)
(b)
Fig. 14.3 : (a) Feature points motion, (b) and velocity of the camera
joints
0.6
0.4
0.2
0
−0.2
−0.4
q1
q2
q3
q4
q5
q6
−0.6
−0.8
−1
−1.2
0
5
10
15
20
Fig. 14.4 Joint trajectories without joint limit avoidance
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