{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,22]],"date-time":"2026-02-22T19:32:12Z","timestamp":1771788732174,"version":"3.50.1"},"publisher-location":"London","reference-count":29,"publisher":"Springer London","isbn-type":[{"value":"9781852330255","type":"print"},{"value":"9781846285288","type":"electronic"}],"license":[{"start":{"date-parts":[[1998,1,1]],"date-time":"1998-01-01T00:00:00Z","timestamp":883612800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[1998]]},"DOI":"10.1007\/bfb0109663","type":"book-chapter","created":{"date-parts":[[2007,11,4]],"date-time":"2007-11-04T09:11:23Z","timestamp":1194167483000},"page":"66-78","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":467,"title":["Potential problems of stability and convergence in image-based and position-based visual servoing"],"prefix":"10.1007","author":[{"given":"Fran\u00e7ois","family":"Chaumette","sequence":"first","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2007,9,26]]},"reference":[{"issue":"2","key":"5_CR1","doi-asserted-by":"publisher","first-page":"152","DOI":"10.1109\/70.238279","volume":"9","author":"P. Allen","year":"1993","unstructured":"P. Allen, A. Timcenko, B. Yoshimi, and P. Michelman. Automated tracking and grasping of a moving object with a robotic hand-eye system. IEEE Trans. on Robotics and Automation, 9(2):152\u2013165, April 1993.","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"5","key":"5_CR2","doi-asserted-by":"publisher","first-page":"492","DOI":"10.1109\/34.494639","volume":"18","author":"F. Chaumette","year":"1996","unstructured":"F. Chaumette, S. Boukir, P. Bouthemy, and D. Juvin. Structure from controlled motion. IEEE Trans. on Pattern Analysis and Machine Intelligence, 18(5):492\u2013504, May 1996.","journal-title":"IEEE Trans. on Pattern Analysis and Machine Intelligence"},{"key":"5_CR3","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1142\/9789814503709_0007","volume-title":"Visual Servoing","author":"F. Chaumette","year":"1993","unstructured":"F. Chaumette, P. Rives, and B. Espiau. Classification and realization of the different vision-based tasks. K. Hashimoto, editor, Visual Servoing, pages 199\u2013228, World Scientific, Singapore, 1993."},{"issue":"1\/2","key":"5_CR4","doi-asserted-by":"publisher","first-page":"123","DOI":"10.1007\/BF01450852","volume":"15","author":"D. Dementhon","year":"1995","unstructured":"D. Dementhon and L. Davis. Model-based object pose in 25 lines of code. Int. Journal of Computer Vision, 15(1\/2):123\u2013141, June 1995.","journal-title":"Int. Journal of Computer Vision"},{"key":"5_CR5","unstructured":"B. Espiau. Effect of camera calibration errors on visual servoing in robotics. In Third Int. Symposium on Experimental Robotics, Kyoto, Japan, October 1993."},{"issue":"3","key":"5_CR6","doi-asserted-by":"publisher","first-page":"313","DOI":"10.1109\/70.143350","volume":"8","author":"B. Espiau","year":"1992","unstructured":"B. Espiau, F. Chaumette, and P. Rives. A new approach to visual servoing in robotics. IEEE Trans. on Robotics and Automation, 8(3):313\u2013326, June 1992.","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"5_CR7","first-page":"832","volume":"2","author":"J. Feddema","year":"1989","unstructured":"J. Feddema, C. Lee, and O. Mitchell. Automatic selection of image features for visual servoing of a robot manipulator. In IEEE Int. Conf. on Robotics and Automation, volume 2, pages 832\u2013837, Scottsdale, Arizona, May 1989.","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"issue":"5","key":"5_CR8","doi-asserted-by":"publisher","first-page":"691","DOI":"10.1109\/70.88086","volume":"5","author":"J. Feddema","year":"1989","unstructured":"J. Feddema and O. Mitchell. Vision-guided servoing with feature-based trajectory generation. IEEE Trans. on Robotics and Automation, 5(5):691\u2013700, October 1989.","journal-title":"IEEE Trans. on Robotics and Automation"},{"issue":"4","key":"5_CR9","doi-asserted-by":"publisher","first-page":"582","DOI":"10.1109\/70.611326","volume":"13","author":"G. Hager","year":"1997","unstructured":"G. Hager. A modular system for robust positioning using feedback from stereo vision. IEEE Trans. on Robotics and Automation, 13(4):582\u2013595, August 1997.","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"5_CR10","series-title":"World Scientific Series in Robotics and Automated Systems","volume-title":"Visual Servoing","year":"1993","unstructured":"K. Hashimoto, editor. Visual Servoing. World Scientific Series in Robotics and Automated Systems, Vol 7, World Scientific Press, Singapore, 1993."},{"key":"5_CR11","first-page":"405","volume":"9","author":"K. Hashimoto","year":"1993","unstructured":"K. Hashimoto and H. Kimura. Dynamic visual servoing with nonlinear model-based control. In 12 th World Congress IFAC, volume 9, pages 405\u2013408, Sidney, Autralia, July 1993.","journal-title":"12th World Congress IFAC"},{"issue":"3","key":"5_CR12","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1109\/TPAMI.1987.4767922","volume":"9","author":"R. Horaud","year":"1987","unstructured":"R. Horaud. New methods for matching 3d objects with single perspective view. IEEE Trans. on Pattern Analysis and Machine Intelligence, 9(3):401\u2013412, May 1987.","journal-title":"IEEE Trans. on Pattern Analysis and Machine Intelligence"},{"key":"5_CR13","doi-asserted-by":"crossref","unstructured":"K. Hosoda and M. Asada. Versatile visual servoing without knowledge of true jacobian. In IEEE\/RSJ Int. Conf on Intelligent Robots and Systems, pages 186\u2013193, Munchen, Germany, September 1994.","DOI":"10.1109\/IROS.1994.407392"},{"issue":"5","key":"5_CR14","doi-asserted-by":"publisher","first-page":"651","DOI":"10.1109\/70.538972","volume":"12","author":"S. Hutchinson","year":"1996","unstructured":"S. Hutchinson, G. Hager, and P. Corke. A tutorial on visual servo control. IEEE Trans. on Robotics and Automation, 12(5):651\u2013670, October 1996.","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"5_CR15","doi-asserted-by":"crossref","first-page":"2874","DOI":"10.1109\/ROBOT.1997.606723","volume":"3","author":"M. Jagersand","year":"1997","unstructured":"M. Jagersand, O. Fuentes, and R. Nelson. Experimental evaluation of uncalibrated visual servoing for precision manipulation. In IEEE Int. Conf. on Robotics and Automation, volume 3, pages 2874\u20132880, Albuquerque, New Mexico, April 1997.","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"5_CR16","doi-asserted-by":"crossref","unstructured":"E. Malis, F. Chaumette, and S. Boudet. Positioning a coarse-calibrated camera with respect to an unknown object by 2d 1\/2 visual servoing. In IEEE Int. Conf. on Robotics and Automation, Leuven, Belgium, May 1998. (extended version available at ftp:\/\/ftp.irisa.fr\/techreports\/1998\/PI-1166.ps.gz).","DOI":"10.1109\/ROBOT.1998.677293"},{"key":"5_CR17","doi-asserted-by":"publisher","first-page":"1083","DOI":"10.1109\/IROS.1996.568954","volume":"3","author":"E. Marchand","year":"1996","unstructured":"E. Marchand, F. Chaumette, and A. Rizzo. Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing. In IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems, volume 3, pages 1083\u20131090, Osaka, Japan, November 1996.","journal-title":"IEEE\/RSJ Int. Conf. on Intelligent Robots and Systems"},{"key":"5_CR18","unstructured":"P. Martinet, N. Daucher, J. Gallice, and M. Dhome. Robot control using monocular pose estimation. In Workshop on New Trends in Image-based Robot Servoing, IROS'97, pages 1\u201312, Grenoble, France, September 1997."},{"key":"5_CR19","unstructured":"H. Michel and P. Rives. Singularities in the determination of the situation of a robot effector from the perspective view of three points. Technical Report 1850, INRIA, February 1993."},{"key":"5_CR20","doi-asserted-by":"crossref","unstructured":"B. Nelson and P. Khosla. The resolvability ellipsoid for visual servoing. In IEEE Int. Conf. on Computer Vision and Pattern Recognition, pages 829\u2013832, Seattle, Washington, June 1994.","DOI":"10.1109\/CVPR.1994.323907"},{"issue":"3","key":"5_CR21","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1177\/027836499501400304","volume":"14","author":"B. Nelson","year":"1995","unstructured":"B. Nelson and P. Khosla. Strategies for increasing the tracking region of an eye-in-hand system by singularity and joint limits avoidance. Int. Journal of Robotics Research, 14(3):255\u2013269, June 1995.","journal-title":"Int. Journal of Robotics Research"},{"key":"5_CR22","doi-asserted-by":"publisher","first-page":"279","DOI":"10.1007\/BF01424011","volume":"13","author":"N. Papanikolopoulos","year":"1995","unstructured":"N. Papanikolopoulos. Selection of features and evaluation of visual measurements during robotic visual servoing tasks. Journal of Intelligent and Robotics Systems, 13:279\u2013304, 1995.","journal-title":"Journal of Intelligent and Robotics Systems"},{"issue":"1","key":"5_CR23","doi-asserted-by":"publisher","first-page":"14","DOI":"10.1109\/70.210792","volume":"9","author":"N. Papanikolopoulos","year":"1993","unstructured":"N. Papanikolopoulos, P. Khosla, and T. Kanade. Visual tracking of a moving target by a camera mounted on a robot: A combination of control and vision. IEEE Trans. on Robotics and Automation, 9(1):14\u201335, February 1993.","journal-title":"IEEE Trans. on Robotics and Automation"},{"key":"5_CR24","volume-title":"Robot Control: the Task Function Approach","author":"C. Samson","year":"1991","unstructured":"C. Samson, M. Le Borgne, and B. Espiau. Robot Control: the Task Function Approach. Clarendon Press, Oxford, United Kingdom, 1991."},{"key":"5_CR25","doi-asserted-by":"crossref","unstructured":"R. Sharma and S. Hutchinson. Optimizing hand\/eye configuration for visual servo systems. In IEEE Int. Conf. on Robotics and Automation, pages 172\u2013177, Nagoya, Japan, May 1995.","DOI":"10.1109\/ROBOT.1995.525281"},{"key":"5_CR26","first-page":"2516","volume":"3","author":"C. Smith","year":"1994","unstructured":"C. Smith and N. Papanikolopoulos. Computation of shape through controlled active exploration. In IEEE Int. Conf. on Robotics and Automation, volume 3, pages 2516\u20132521, San Diego, California, May 1994.","journal-title":"IEEE Int. Conf. on Robotics and Automation"},{"key":"5_CR27","doi-asserted-by":"crossref","first-page":"285","DOI":"10.1142\/9789814503709_0010","volume-title":"Visual Servoing","author":"I. Suh","year":"1993","unstructured":"I. Suh. Visual servoing of robot manipulators by fuzzy membership function based neural networks. K. Hashimoto, editor, Visual Servoing, pages 285\u2013315, World Scientific, Singapore, 1993."},{"issue":"5","key":"5_CR28","doi-asserted-by":"crossref","first-page":"404","DOI":"10.1109\/JRA.1987.1087115","volume":"3","author":"L. Weiss","year":"1987","unstructured":"L. Weiss, A. Sanderson, and C. Neuman. Dynamic sensor-based control of robots with visual feedback. IEEE Journal of Robotics and Automation, 3(5):404\u2013417, October 1987.","journal-title":"IEEE Journal of Robotics and Automation"},{"issue":"5","key":"5_CR29","doi-asserted-by":"publisher","first-page":"684","DOI":"10.1109\/70.538974","volume":"12","author":"W. Wilson","year":"1996","unstructured":"W. Wilson, C. Hulls, and G. Bell. Relative end-effector control using cartesian position-based visual servoing. IEEE Trans. on Robotics and Automation, 12(5):684\u2013696, October 1996.","journal-title":"IEEE Trans. on Robotics and Automation"}],"container-title":["Lecture Notes in Control and Information Sciences","The confluence of vision and control"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/BFb0109663","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,22]],"date-time":"2025-01-22T02:43:42Z","timestamp":1737513822000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/BFb0109663"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1998]]},"ISBN":["9781852330255","9781846285288"],"references-count":29,"URL":"https:\/\/doi.org\/10.1007\/bfb0109663","relation":{},"ISSN":["0170-8643","1610-7411"],"issn-type":[{"value":"0170-8643","type":"print"},{"value":"1610-7411","type":"electronic"}],"subject":[],"published":{"date-parts":[[1998]]},"assertion":[{"value":"26 September 2007","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}