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This thesis is an extended version of several conference articles, primarily
[Jägersand and Nelson, 1994, Jägersand and Nelson, 1995, Jägersand, 1996, Jägersand et al., 1997, Jägersand, 1997].
The main contributions lie in three areas:
- We integrate visual-motor model exploration and
visual simulation capabilities into the
manipulation system. This extends visual servoing techniques into the
active vision field.
- We present an extensive experimental evaluation of visual
servoing positioning precision and convergence, both with and without on-line
- We show how to solve complex, real-world manipulation problems
in the uncalibrated framework. At the high level, task specification
and trajectory planning is done in visual space rather than 3D world space.
On the low (control) level, the manipulation is carried out
by combining different types of visual servoing.