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Indeed, contrary to the usual methodology where the robot is modeled independently from the control law that will be implemented, the proposed method takes into account, from the early modeling stage, the fact that vision will be used for control. Hence, kinematic modeling and projective geometry are fused into a control-devoted projective kinematic model. Thus, starting from a vision-based kinematic modeling of a Gough\u2014Stewart manipulator, a visual servoing scheme is presented, where the image projection (edges) of the non-rigidly linked legs are servoed, rather than the end-effector pose or the leg directions.<\/jats:p>","DOI":"10.1177\/0278364907080426","type":"journal-article","created":{"date-parts":[[2007,6,19]],"date-time":"2007-06-19T05:08:03Z","timestamp":1182229683000},"page":"677-687","source":"Crossref","is-referenced-by-count":38,"title":["Image-based Visual Servoing of a Gough\u2014Stewart Parallel Manipulator using Leg Observations"],"prefix":"10.1177","volume":"26","author":[{"given":"Nicolas","family":"Andreff","sequence":"first","affiliation":[{"name":"LASMEA-UMR 6602 CNRS-Universit\u00e9 Blaise Pascal 24 avenue des Landais F-63177 Aubi\u00e8re Cedex, France, -bpclermont.fr http:\/\/www.lasmea.univ-bpclermont.fr\/Control, LaMI, IFMA-Universit\u00e9 Blaise Pascal, BP 165, F-63175 Aubi\u00e8re Cedex, France, -bpclermont.fr http:\/\/www.lasmea.univ-bpclermont.fr\/Control"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tej","family":"Dallej","sequence":"additional","affiliation":[{"name":"LASMEA-UMR 6602 CNRS-Universit\u00e9 Blaise Pascal 24 avenue des Landais F-63177 Aubi\u00e8re Cedex, France, @lasmea.univ-bpclermont.fr, http:\/\/www.lasmea.univ-bpclermont.fr\/Control"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Martinet","sequence":"additional","affiliation":[{"name":"LASMEA-UMR 6602 CNRS-Universit\u00e9 Blaise Pascal 24 avenue des Landais F-63177 Aubi\u00e8re Cedex, France, @lasmea.univ-bpclermont.fr, http:\/\/www.lasmea.univ-bpclermont.fr\/Control"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2007,7,1]]},"reference":[{"key":"atypb1","unstructured":"This part is not yet running under RTAI, but only under standard Linux."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836402761412430"},{"key":"atypb3","volume-title":"Fifth International Workshop on Robot Motion and Control (RoMoCo'05)","author":"Andreff, N."},{"key":"atypb4","volume-title":"Proceedings of International Confonference on Informatics in Control, Automation and Robotics (ICINCO'05)","author":"Andreff, N."},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.882931"},{"key":"atypb6","volume-title":"International Conference on Robotics and Automation (ICRA'05)","author":"Andreff, N."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1108\/01439910410532350"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-015-9064-8_13"},{"issue":"10","key":"atypb9","volume":"22","author":"Christensen, H.I.","year":"2003","journal-title":"International Journal of Robotics Research"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1007\/BF01450852"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-015-9064-8_1"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1016\/S0094-114X(97)00094-3"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/70.143350"},{"key":"atypb14","volume-title":"Three-dimensional Computer Vision \u2014 A Geometric Viewpoint. 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