This paper investigates passivity-based pose control
via an obstacle avoidance navigation function for threedimensional
(3-D) eye-in-hand visual feedback systems. Firstly,
visual motion observer-based pose control for 3-D eye-in-hand
visual feedback systems is presented. Next, a path planner to
be appropriate for the visual motion error system is designed
through an obstacle avoidance navigation function to keep
collision-free during servoing. Finally, the effectiveness of the
proposed method is verified through computer simulations.
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