{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:24Z","timestamp":1754157384193,"version":"3.41.2"},"reference-count":26,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2011,3,8]],"date-time":"2011-03-08T00:00:00Z","timestamp":1299542400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,3,8]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present the control of six degrees of freedom (PUMA560) robotic arm using visual servoing, based upon linear matrix inequality (LMI). The aim lies in developing such a method that neither involves camera calibration parameters nor inverse kinematics. The approach adopted in this paper includes transpose Jacobian control; thus, inverse of the Jacobian matrix is no longer required. By invoking the Lyapunov's direct method, closed\u2010loop stability of the system is ensured. Simulation results are shown for three different cases, which exhibit the system stability and convergence even in the presence of large errors.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The paper presents LMI\u2010based visual servo control of PUMA560 robotic arm.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The proposed method is implementable in the dynamic environment due to its independence to camera and object model.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>Visibility constraint is not included during servoing \u2013 this may cause features to leave the camera field of view (fov).<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>LMI optimization is employed for visual servo control in an uncalibrated environment. Lyapunov's direct method is utilized which ensures system stability and convergence.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111106345","type":"journal-article","created":{"date-parts":[[2011,2,19]],"date-time":"2011-02-19T07:01:35Z","timestamp":1298098895000},"page":"130-138","source":"Crossref","is-referenced-by-count":12,"title":["Uncalibrated eye\u2010in\u2010hand visual servoing: an LMI approach"],"prefix":"10.1108","volume":"38","author":[{"given":"Umer","family":"Khan","sequence":"first","affiliation":[]},{"given":"Ibrar","family":"Jan","sequence":"additional","affiliation":[]},{"given":"Naeem","family":"Iqbal","sequence":"additional","affiliation":[]},{"given":"Jian","family":"Dai","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022030820183225800_b1","doi-asserted-by":"crossref","unstructured":"Armstrong, B., Khatib, O. and Burdick, J. 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