This brief addresses the problem of vision-based robot control where the equilibrium state is defined via a goal image. Specifically, we consider the class of intensity-based nonmetric solutions, which provide for high accuracy, versatility, and robustness. Existing techniques within that class present a fully coupled translational and rotational control error dynamics, what increases analysis complexity and may degrade system performance. This brief proposes a new intensity-based nonmetric visual servoing technique that decouples the translational control error dynamics, regardless of the observed object characteristics, camera displacements, and their relative poses. The obtained system is thus lower triangular in the general case. For some practical cases, the proposed general technique leads to the Grail of a fully decoupled (i.e., strictly diagonal) linear dynamics. The theoretical analysis of local diffeomorphism, local exponential stability, and those decoupling properties is provided. Improved performances are also experimentally confirmed using a 6-DoF robotic arm in various positioning and tracking tasks.

中文翻译：

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基于解耦强度的非度量视觉伺服控制

本摘要解决了基于视觉的机器人控制问题，其中通过目标图像定义了平衡状态。具体来说，我们考虑基于强度的非度量解决方案，它提供了高精度，多功能性和鲁棒性。该类别中的现有技术提供了完全耦合的平移和旋转控制误差动态特性，这增加了分析的复杂性并可能降低系统性能。本摘要提出了一种新的基于强度的非度量视觉伺服技术，该技术将平移控制误差动力学解耦，无论观察到的物体特征，摄像机位移及其相对姿态如何。因此，在通常情况下，所获得的系统为较低的三角形。在某些实际情况下，建议的通用技术导致完全脱钩的圣杯（即，严格对角线）线性动力学。提供了局部非同构，局部指数稳定性以及解耦特性的理论分析。在各种定位和跟踪任务中，使用6自由度机械臂还通过实验证实了性能的提高。